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• W1640874559 abstract "Energy-based modeling and control of dynamical systems is crucial since energy is a fundamental concept in Science and Engineering theory and practice. While Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is a powerful theoretical tool to control port-controlled Hamiltonian (PCH) systems that arise from energy balancing principles, sensorless operation of energy harvesters is a promising practical solution for low-power energy generation. Œe thesis addresses these two problems of energy-based control and ecient energy generation. Œe design via IDA-PBC hinges on the solution of the so-called matching equation which is the stumbling block in making this method widely applicable. In the €rst part of the thesis, a constructive approach for IDA-PBC for PCH systems that circumvents the solution of the matching equation is presented. A new notion of solution for the matching equation, called algebraic solution, is introduced. Œis notion is instrumental for the construction of an energy function de€ned on an extended state-space. Œis yields, di‚erently from the classical solution, a dynamic state-feedback that stabilizes a desired equilibrium point. In addition, conditions that preserve the PCH structure in the extended closed-loop system have been provided. Œe theory is validated on four examples: a two-dimensional nonlinear system, a magnetic levitated ball, an electrostatic microactuator and a third order food-chain system. For these systems damping structures that cannot be imposed with the standard approach are assigned. In the second part of the thesis, the design of a nonlinear observer and of an energybased controller for sensorless operation of a rotational energy harvester is presented. A mathematicalmodel of the harvester with its power electronic interface is developed. Œis model is used to design an observer that estimates the mechanical quantities from the measured electrical quantities. Œe gains of the observer depend on the solution of a modi€ed Riccati equation. Œe estimatedmechanical quantities are used in a feedback control law that sustains energy generation across a range of source rotation speeds. Œe proposed observer-controller scheme is assessed through simulations and experiments." @default.
• W1640874559 created "2016-06-24" @default.
• W1640874559 creator A5047388650 @default.
• W1640874559 date "2014-06-01" @default.
• W1640874559 modified "2023-09-27" @default.
• W1640874559 title "Constructive interconnection and damping assignment passivity-based control with applications" @default.
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• W1640874559 doi "https://doi.org/10.25560/24587" @default.
• W1640874559 hasPublicationYear "2014" @default.
• W1640874559 type Work @default.
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