Passivity-based control of Euler-Lagrange systems
Distributed Control of Networked Nonlinear Euler-Lagrange Systems
... q ˜ j (t) = q j (t) − q j , j ∈ {l + 1,...,m} (3.4) Consequently, one can designate s j as a “weighted” error according to: s j = ˙˜q j + K ¯ j q ˜ j , j ∈ V . One can then show that s jn = s j − s n for the j-th and ...
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Motion Coordination of Mechanical Systems: Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control
... havioural based motion synchronization approaches, which both have utilized the concept of a virtual object to aid in the synchronization ...Behavioural based approach The behavioural based methods ...
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Application of Passivity to Adaptive Control Compensation Systems
... BY PASSIVITY THEOREM The problem of feedforward gain compensation is the main objective of this ...rules based on passivity ...to passivity theorem the adaptive system will be stable if the ...
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Fault-tolerant control strategies for a class of Euler-Lagrange nonlinear systems subject to simultaneous sensor and actuator faults
... physical systems such as robot manipulators or satellite ...general Euler-Lagrange systems affected by simultaneous sensor and actuator faults with no limiting assumption mentioned ...
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Pseudo Euler-Lagrange and Piecewise Affine Control Applied to Surge and Stall in Axial Compressors
... stabilizing control action to the compressor actuator has to be applied as soon as the surge and stall inception is ...strategy. Based on the aforementioned points, any attempt that improves the reliability ...
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Direct transcription solution of high index optimal control problems and regular Euler–Lagrange equations
... the control of the form u = k 1 x 3 + k 2 x 4 , and remaining state of the form x 3 = k 3 x 3 + k 4 x 4 , results in an index two DAE in x 1 , x 2 , x 3 ...feedback control is sought so that the ...
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On the Homotopy Analysis Method and Optimal Value of the Convergence Control Parameter: Solution of Euler Lagrange Equation
... 1 m Remark 1. In 2007, Yabushita et al. [19] applied the HAM to solve two coupled nonlinear ODEs, and sug- gested the so-called optimization method to find out two optimal convergence-control parameters by means ...
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Passivity-based neural network adaptive output feedback control for nonlinear nonnegative dynamical systems
... compartmental systems are widely used to capture system dynamics involving the interchange of mass and energy between homogenous subsystems or ...biological systems, physiological systems, and ...
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Passivity-Based Output-Feedback Control of Turbulent Channel Flow
... The passivity theorem states that two passive systems in feedback leads to the global system being ...enforce passivity on the linear system to guarantee global ...the passivity framework ...
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Dynamic output-feedback passivity control for fuzzy systems under variable sampling
... output-feedback control is designed for a class of nonlinear systems with vari- able ...fuzzy systems with nonuniform uncertain sampling. Based on the conception of very-strict ...
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Analysis, Design and Passivity-Based Control of a Boost Converter Used With a Fuel Cell
... In some applications, such as fuel cell systems, high conversion ratios are needed. Different techniques and converter topologies can be obtained to handle this problem. In this paper, the boost converter has been ...
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Passivity-Based Plug-and-Play Voltage and Frequency Control in Islanded Inverter-Based AC Microgrids
... employing passivity theory and exploiting its link to Lyapunov stability by following an IDA-PBC approach based on ...frequency control of single VSIs, comprehensive IDA-PBC designs have been ...
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Contributions to Passivity Theory and Dissipative Control Synthesis
... 5 On the Application of Strict QSR-Dissipativity for Static Output Feedback In the following, we address another relevant open problem in the field of lin- ear control theory, namely the static output feedback ...
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Euler Lagrange Elasticity with Dynamics
... of Euler-Lagrange elasticity describe elastic deformations without reference to stress or ...of Euler equations for the dynamics of elastic materials without stress or strain, which are appropriate ...
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Newton-Euler Lagrange for Robotics
... In the following, we will compute the manipulator dynamics using the Newton-Euler method. We simply need to apply the formulas from the Newton-Euler method summary above. Note that the acceleration of the ...
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A Passivity Measure Of Systems In Cascade Based On Passivity Indices
... In this paper, we revisit the results on secant criterion from the perspective of passivity indices and we show how to use the secant criterion to measure the excess / shortage of passiv[r] ...
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A hybrid slurry CFD model : Euler-Euler to Euler-Lagrange Tutorial
... After the changes have been made in the two folders, the sections should be cleaned and compiled by navigating back to the src/lagrangian/intermediate folder and typing wclean; wmake. 5.2 Writing lookupTable in solver ...
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Euler-Euler and Euler-Lagrange Modeling of Wood Gasification in Fluidized Beds
... Lack of detailed knowledge about the complex interactions between heterogeneous reactions and the fluid mechanics in fluidized beds. Develop closure laws for large scale models.[r] ...
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Approximate Euler Lagrange quadratic mappings
... During the last three decades, a number of papers and research monographs have been published on various generalizations and applications of the Hyers-Ulam stability of several functional equations, and there are many ...
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Solvability of Quasilinear Euler-Lagrange Equations
... singular Euler-Lagrange equation with natural growth with p = N has been investigated by Quincy Stevene Nkombo (see ...quasilinear Euler-Lagrange equation with 1 < p < ...
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