Passivity-based Control of Euler-Lagrange Systems

Romeo Ortega obtained the Docteur D'Etat from the Polytechnical Institute of Grenoble, France in 1984 . He then joined the National University of Mexico, where he worked until 1989. He was a Visiting Professor at the University of Illinois, USA, in 1987-88 and at McGill University, Canada, in 1991-1992, and a Fellow of the Japan Society for Promotion of Science in 1990-1991. Currently he is in the Laboratoire des Signaux et Systemes of Supelec in Gif-sur-Yvette, France, where he holds a position of Directeur de Recherche from the CNRS. His research interests are in the fields of nonlinear and adaptive control with special emphasis on applications. He is a co-author of the Springer-Verlag book Nonlinear Adaptive Control Design and Applications, and has published more than 100 scientific papers in international journals. Dr Ortega has been the chairman of the IEEE Working Group on Adaptive Control and Systems Identification, of the IFAC Technical Committee on Adaptive Control and Tuning and of the Automatica Paper Prize Award Committee. He has served as Associate Editor for various scientific journals. Dr Ortega is a member of the IFAC Technical Board and a Fellow of the IEEE. Antonio Loria has been a research fellow at the University of Twente, NTNU Norway and UCSB, California. Currently, he has a tenure position as Associate Researcher with the National Centre for Scientific Research (CNRS), France. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory; of these publications, more than 20 are on robot control. He is co-author of Control of Robot Manipulators in Joint Space by R. Kelly, V. Santibanez and A. Loria, (1-85233-994-2). Hebertt Sira-Ramirez has published his work in 4 books, 20 book chapters, many of them in Springer-Verlag volumes, 114 journal publications in credited, refereed, journals and over 192 specialized international conferences. He obtained his MSEE and his PhD, both from the Massachusetts Institute of Technology (Cambridge, USA) in 1972 and 1977, respectively. He worked as a professor, and researcher, for 28 years at the Universidad de Los Andes in Merida, Venezuela, and has worked for the last 7 years in a Scientific Research Institute in Mexico City (Cinvestav-IPN). He is a member of the IFAC Technical Committee on Non-Linear Control Systems.

• 1 Introduction.- 2 Euler-Lagrange systems.- 3 Set-point regulation.- 4 Trajectory tracking control.- 5 Adaptive disturbance attenuation: Friction compensation.- 6 Modeling of switched DC-to-DC power converters.- 7 Passivity-based control of DC-to-DC power converters.- 8 Nested-loop passivity-based control: An illustrative example.- 9 Generalized AC motor.- 10 Voltage-fed induction motors.- 11 Current-fed induction motors.- 12 Feedback interconnected systems: Robots with AC drives.- 13 Other applications and current research.- A Dissipativity and passivity.- 1 Circuit example.- 3 Passivity and finite-gain stability.- 4 Feedback systems.- 5 Internal stability and passivity.- 6 The Kalman-Yakubovich-Popov lemma.- B Derivation of the Euler-Lagrange equations.- 1 Generalized coordinates and velocities.- 2 Hamilton’s principle.- 3 From Hamilton’s principle to the EL equations.- 4 EL equations for non-conservative systems.- 5 List of generalized variables.- 6 Hamiltonian formulation.- C Background material.- D Proofs.- 3 The BP transformation.- 3.1 Proof of Proposition 9.20.- 3.2 A Lemma on the BP Transformation.- 4 Proof of Eqs. (10.41) and (10.77).- 4.1 A theorem on positivity of a block matrix.- 4.2 Proof of Eq. (10.77).- 4.3 Proof of Eq. (10.41).- 5 Derivation of Eqs. (10.55) and (10.56).- 5.1 Derivation of Eq. (10.55).- 5.2 Derivation of Eq. (10.56).- 6 Boundedness of all signals for indirect FOC.- 6.1 Proof of Proposition 11.10.

From the reviews: We highly recommend Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications for bot the researcher interested in advanced passivity-based control techniques and the engineer seeking experimentally proven techniques. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader; hence, this text lends itself to classroom use as a graduate level text in passivity-based control. Automatica 36 (2000) 1389 - 1391 (Reviewers: Warren E. Dixon and Darren M. Dawson) ...an attractive reference book for research and development engineers who are interested in modern methods of control theory. Also, can be used for advanced senior-level course in university. IEEE Industrial Electronics Society Newsletter June (2001) 12 (Reviewer: Marian P. Kazmierkowsi)