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Vidal, J., (2019). Implicit IDA-PBC Design and Implementation for a Portal Crane System [Tesis, Pontificia Universidad Católica del Perú]. http://hdl.handle.net/20.500.12404/15353
Vidal, J., Implicit IDA-PBC Design and Implementation for a Portal Crane System [Tesis]. PE: Pontificia Universidad Católica del Perú; 2019. http://hdl.handle.net/20.500.12404/15353
@mastersthesis{sunedu/2651979,
title = "Implicit IDA-PBC Design and Implementation for a Portal Crane System",
author = "Vidal Sandoval, Jesus Enrique",
publisher = "Pontificia Universidad Católica del Perú",
year = "2019"
}
Title: Implicit IDA-PBC Design and Implementation for a Portal Crane System
Authors(s): Vidal Sandoval, Jesus Enrique
Advisor(s): Cieza Aguirre, Oscar B.; Reger, Johann; Villota Cerna, Elizabeth Roxana
Keywords: Controladores--Implementación; Sistemas no lineales--Control; Sistemas mecánicos subactuados; Control basado en pasividad
OCDE field: https://purl.org/pe-repo/ocde/ford#2.00.00
Issue Date: 12-Nov-2019
Institution: Pontificia Universidad Católica del Perú
Abstract: Interconnection and damping assignment passivity-based control (IDA-PBC) ist eine wohlbekannte Methode zur Regelung von nichtlinearen Systemen, die im geschlossenen Regelkreis eine gewünschte Port-Hamiltonian-Struktur (pH) haben. Die Anwendung auf unteraktuierte mechanische Systeme (UMS) erfordert die Erfüllung von sogenannten Matching Conditions, die meistens die Lösung partieller Differentialgleichungen (PDE) benötigt. Erst kürzlich wurde die IDA-PBC auf implizit modellierte UMS erweitert, bei denen die Systemdynamik in pH-Darstellungen durch Differentialalgebraische
Gleichungen (DAE) beschrieben wird. Dieser implizite Ansatz ermöglicht bei einigen Systemklassen, das PDE-Problem zu umgehen und auch eine Ausgangsrückführung zu entwerfen. Die vorliegende Masterarbeit beschäftigt sich mit dem Entwurf und der Implementierung des impliziten IDA-PBC zur Gesamtenergievorgabe auf einem Portalkransystem im Labor des Fachgebiets Regelungstechnik der TU-Ilmenau. Der implizite Regler wird mit einem vereinfachten (expliziten) IDA-PBC verglichen [1]. Dieser Algorithmus gibt ebenso die Gesamtenergie vor und vermeidet das PDE-Problem. In der Masterarbeit
wird in diesem Algorithmus ein wesentlicher Implementierungsfehler offengelegt und behoben.
Interconnection and damping assignment passivity-based control (IDA-PBC) is a wellknown technique which regulates the behavior of nonlinear systems, assigning a target port-Hamiltonian (pH) structure to the closed-loop. In underactuated mechanical systems (UMSs) its application requires the satisfaction of matching conditions, which in many cases demands to solve partial differential equations (PDEs). Only recently, the IDA-PBC has been extended to UMSs modeled implicitly, where the system dynamics in pH representation are described by a set of differential-algebraic equations (DAEs). In some system classes this implicit approach allows to circumvent the PDE problem and also to design an output-feedback law. The present thesis deals with the design and implementation of the total energy shaping implicit IDA-PBC on a portal crane system located at the laboratory of the Control Engineering Group at TU-Ilmenau. The implicit controller is additionally compared with a simplified (explicit) IDA-PBC [1]. This algorithm shapes the total energy and avoids the PDE problem. However, this thesis reveales a significant implementation flaw in the algorithm, which then could be solved.
Interconnection and damping assignment passivity-based control (IDA-PBC) is a wellknown technique which regulates the behavior of nonlinear systems, assigning a target port-Hamiltonian (pH) structure to the closed-loop. In underactuated mechanical systems (UMSs) its application requires the satisfaction of matching conditions, which in many cases demands to solve partial differential equations (PDEs). Only recently, the IDA-PBC has been extended to UMSs modeled implicitly, where the system dynamics in pH representation are described by a set of differential-algebraic equations (DAEs). In some system classes this implicit approach allows to circumvent the PDE problem and also to design an output-feedback law. The present thesis deals with the design and implementation of the total energy shaping implicit IDA-PBC on a portal crane system located at the laboratory of the Control Engineering Group at TU-Ilmenau. The implicit controller is additionally compared with a simplified (explicit) IDA-PBC [1]. This algorithm shapes the total energy and avoids the PDE problem. However, this thesis reveales a significant implementation flaw in the algorithm, which then could be solved.
Link to repository: http://hdl.handle.net/20.500.12404/15353
Discipline: Ingeniería Mecatrónica
Grade or title grantor: Pontificia Universidad Católica del Perú. Escuela de Posgrado
Grade or title: Maestro en Ingeniería Mecatrónica
Register date: 12-Nov-2019; 12-Nov-2019
This item is licensed under a Creative Commons License