Arnau Dòria-cerezo - Academia.edu (original) (raw)

Papers by Arnau Dòria-cerezo

A systematic exposition of modeling of electromechanical systems in the bond graph formalism is p... more A systematic exposition of modeling of electromechanical systems in the bond graph formalism is presented. After reviewing electromechanical energy conversion and torque generation, the core element present in any electromechanical system is introduced, and the corresponding electrical and mechanical ports are attached to it. No modulated elements are necessary, since the energy representation of the electromechanical system takes care of the detailed, lumped parameter, dynamics. The general framework is applied to an AC generator, and the case of permanent magnets is also considered. The corresponding bond graphs are implemented in 20sim and simulations are then performed.

This paper presents some preliminary results on the influence of vehicles equipped with cooperati... more This paper presents some preliminary results on the influence of vehicles equipped with cooperative adaptive cruise control algorithms to the traffic flow. The design of the controller consists in regulating a policy distance that depends on the longitudinal speed of the vehicle and, when available, the velocity of precedent vehicles. The behaviour of the proposed algorithms are tested in numerical simulations. Additionally, the influence of cooperative driving to traffic properties in heterogenous roads, i.e., with a variable (and randomly) presence of controlled-vehicles is analysed using a standard traffic simulator.

Proceedings of the ... American Control Conference, Jul 1, 2007

In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that of... more In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that offers significant advantages, and is considerably simpler, than the classical vector control method. In contrast with the latter, where the DFIM is represented in a stator flux-oriented frame, we propose here a model with orientation of the stator voltage. This allows for an easy decomposition of the active and reactive powers on the stator side and their regulation-acting on the rotor voltage-via stator current control. Our main contribution is the proof that a linear PI control around the stator currents ensures global stability for a feedback linearized DFIM, provided the gains are suitably selected. The feedback linearization stage requires only measurement of the rotor and stator currents, hence is easily implementable. Furthermore, to improve the robustness, an adaptive version that estimates the rotor resistance is proposed. Tuning rules for the PI gains are also provided. Finally, an outer loop control for the mechanical speed is introduced. The complete control system is tested both in simulations and experiments, showing good transient performance and robustness properties. C.B. and A.D.C. were partially supported by the CICYT project DPI2004-06871-CO2-02. The work of R.O. was partially funded by the European Network of Excellence HyCON.

IEEE Transactions on Power Electronics, 2013

ABSTRACT The paper [1] proposes a very simple and attractive algorithm for controlling both activ... more ABSTRACT The paper [1] proposes a very simple and attractive algorithm for controlling both active and reactive powers of a DFIM with a unique feedback control loop. In this technical note, it is proved that the presented algorithm in [1] yields a marginally stable closed-loop system (for the rotor currents). This fact could imply undesired oscillations in the rotor variables, which, eventually, can be large for certain disturbances. The control law in [1] (which has been cited in more than 100 journal and conference papers) has probably been tested and implemented several times in a real application. However, as the rotor current oscillations are with the same frequency than the power grid (or twice in the three-phase framework), they may have been attributed to the presence of grid-coupling noise or small unbalanced effects instead of the inherent marginal stability of the closed-loop dynamics. The problem detected could be overcome using two nested loops, as many references propose (see a general example in [3] or a recent application in [4]), or adopting amore advanced control design technique [5].

We consider a doubly-fed induction machine-controlled through the rotor voltage and connected to ... more We consider a doubly-fed induction machine-controlled through the rotor voltage and connected to a variable local load-that acts as an energy-switching device between a local prime mover (a flywheel) and the electrical power network. The control objective is to optimally regulate the power flow which is achieved commuting between two different steady-state regimes. We first show that the zero dynamics of the system is only marginally stable complicating its control via feedback linearization. Instead, we apply the energy-based Interconnection and Damping Assignment Passivity-Based Control technique that does not require stable invertibility. It is shown that the partial differential equation that appears in this method can be obviated fixing the desired closed-loop total energy and adding new terms to the interconnection structure. Furthermore, to obtain a globally defined control law we introduce a state-dependent damping term that has the nice interpretation of effectively decoupling the electrical and mechanical parts of the system. This results in a globally asymptotically stabilizing controller parameterized by two degrees of freedom, which can be used to implement the power management policy. An indirect adaptive scheme for the rotor and stator resistances is also introduced. The controller is simulated and shown to work satisfactorily for various realistic load changes. * This work has been done in the context of the European sponsored project Geoplex with reference code IST-2001-34166. Further information is available at http://www.geoplex.cc † The work of Carles Batlle has been partially done with the support of the spanish project Mocoshev, DPI2002-03279. ‡ The work of Arnau Dòria-Cerezo was (partially) supported through a European Community Marie Curie Fellowship in the framework of the European Control Training Site.

International Journal of Control, Jan 22, 2009

and-conditions-of-access.pdf This article may be used for research, teaching and private study pu... more and-conditions-of-access.pdf This article may be used for research, teaching and private study purposes. Any substantial or systematic reproduction, redistribution , reselling , loan or sub-licensing, systematic supply or distribution in any form to anyone is expressly forbidden. The publisher does not give any warranty express or implied or make any representation that the contents will be complete or accurate or up to date. The accuracy of any instructions, formulae and drug doses should be independently verified with primary sources. The publisher shall not be liable for any loss, actions, claims, proceedings, demand or costs or damages whatsoever or howsoever caused arising directly or indirectly in connection with or arising out of the use of this material.

IEEE Transactions on Robotics, Feb 1, 2023

European Journal of Control, 2005

This paper presents a new nonlinear passivitybased controller for a wound rotor synchronous machi... more This paper presents a new nonlinear passivitybased controller for a wound rotor synchronous machine, acting as a motor drive. From the standard dq-model the control objectives are stated, and the Port-controlled Hamiltonian model is also obtained. A simple power flow study allows to state the control goals in terms of reactive power compensation and ohmic losses reduction. Starting from the Hamiltonian structure, the Simultaneous Interconnection and Damping Assignment (SIDA-PBC) technique is used to develop the control action. The desired robustness of the control action is also taken into account in the design procedure. This results in a globally asymptotically stabilizing controller, which is validated via numerical simulations.

In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that of... more In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that offers significant advantages, and is considerably simpler, than the classical vector control method. In contrast with the latter, where the DFIM is represented in a stator flux-oriented frame, we propose here a model with orientation of the stator voltage. This allows for an easy decomposition of the active and reactive powers on the stator side and their regulation-acting on the rotor voltage-via stator current control. Our main contribution is the proof that a linear PI control around the stator currents ensures global stability for a feedback linearized DFIM, provided the gains are suitably selected. The feedback linearization stage requires only measurement of the rotor and stator currents, hence is easily implementable. Finally, an outer loop control for the mechanical speed is introduced. The complete control system is tested both in simulations and experiments, showing good transient performance and robustness properties.

International Journal of Electrical Power & Energy Systems, Feb 1, 2013

In this paper the stator-side power regulation control problem of DFIM is approached. It is shown... more In this paper the stator-side power regulation control problem of DFIM is approached. It is shown how a passivity-based controller can deal with this problem establishing a viable solution from both a dynamic performance perspective and a practical implementation point of view. The evaluation of the presented scheme is carried out by considering typical operation conditions, namely: active power generation with demanded or delivered reactive power. Special interest is given to the rigorous establishment of the stability properties of the closed-loop system, which allows for achieving remarkable dynamic responses, in terms of convergence rates as well as the region of attraction of the equilibrium point defined by a given operation regime. From a practical viewpoint, the usefulness of the scheme is concluded by realizing that the requirements imposed concerning the structural features of both the generator by itself and the power converter required for its operation, can be fulfilled by commercially available off-the-shelf devices.

Mechanism and Machine Theory, 2017

The analysis of a captured motion can be addressed by means of forward or inverse dynamics approa... more The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.

IET Electric Power Applications

This paper presents the desired current references in order to minimize the torque ripple for a S... more This paper presents the desired current references in order to minimize the torque ripple for a Switched Reluctance Motor. From the torque equation, and using switch on and switch off angles, the desired current waveforms are obtained. Simulations validates the study and are compared with the constant current references case.

RSME Springer series, 2023

IFAC Proceedings Volumes, 2011

It is known that straightforward application of the classical Lagrangian and Hamiltonian formalis... more It is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formulation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional non-conservative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this paper, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamiltonian formalism combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.

Journal of Applied Mechanics, Aug 24, 2011

is known that straightforward application of the classical Lagrangian and Hamiltonian formalism t... more is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formidation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional noncon,^ervative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this note, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamittonian formali.sm combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.

arXiv: Popular Physics, 2020

Human towers or castells are human structures played in festivals mainly in Catalonia. These uniq... more Human towers or castells are human structures played in festivals mainly in Catalonia. These unique cultural and traditional displays have become very popular in the last years, but they date from the XVIII century. On 2010 they became part of the Unesco Representative List of the Intangible Cultural Heritage of Humanity. Safety is very important in the performance of castells. To this end, it is crucial to understand the mechanisms that allow a castell to be built and, more importantly, the factors that may cause its collapse. This work is focused on the mechanical aspects that make a pilar (the simplest structure in the castells) to stand. We suggest three different but complementary approaches for the running stage of a pilar (stage where it has been built and has not yet collapsed): the NNN-link pendulum as a first dynamical model, the response of the castellers as a control problem, and a static analysis to capture the feasibility of a given configuration. We include some preli...

IET Control Theory & Applications, 2012

A family of passivity-based controllers for dynamic positioning of ships is presented. The author... more A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based control law using the interconnection and damping assignment-passivity-based control (IDA-PBC) methodology. A salient feature of this study is that the proposed control laws are output feedback controllers and the relative velocity measurement is not required. First, we design and analyse two static controllers which can be seen as a non-linear version of the conventional proportional-derivative (PD) controllers. In presence of unknown disturbances, these controllers do not provide the desired regulation properties. To remove this discrepancy we propose, also in the context of the IDA-PBC technique, a dynamic extension of the system and obtain two new controllers that have the desired regulation properties. These new control laws can be seen as a non-linear version of the conventional proportional-integral-derivative (PID) controllers. Simulations are included to validate the theoretical results.

A systematic exposition of modeling of electromechanical systems in the bond graph formalism is p... more A systematic exposition of modeling of electromechanical systems in the bond graph formalism is presented. After reviewing electromechanical energy conversion and torque generation, the core element present in any electromechanical system is introduced, and the corresponding electrical and mechanical ports are attached to it. No modulated elements are necessary, since the energy representation of the electromechanical system takes care of the detailed, lumped parameter, dynamics. The general framework is applied to an AC generator, and the case of permanent magnets is also considered. The corresponding bond graphs are implemented in 20sim and simulations are then performed.

This paper presents some preliminary results on the influence of vehicles equipped with cooperati... more This paper presents some preliminary results on the influence of vehicles equipped with cooperative adaptive cruise control algorithms to the traffic flow. The design of the controller consists in regulating a policy distance that depends on the longitudinal speed of the vehicle and, when available, the velocity of precedent vehicles. The behaviour of the proposed algorithms are tested in numerical simulations. Additionally, the influence of cooperative driving to traffic properties in heterogenous roads, i.e., with a variable (and randomly) presence of controlled-vehicles is analysed using a standard traffic simulator.

Proceedings of the ... American Control Conference, Jul 1, 2007

In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that of... more In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that offers significant advantages, and is considerably simpler, than the classical vector control method. In contrast with the latter, where the DFIM is represented in a stator flux-oriented frame, we propose here a model with orientation of the stator voltage. This allows for an easy decomposition of the active and reactive powers on the stator side and their regulation-acting on the rotor voltage-via stator current control. Our main contribution is the proof that a linear PI control around the stator currents ensures global stability for a feedback linearized DFIM, provided the gains are suitably selected. The feedback linearization stage requires only measurement of the rotor and stator currents, hence is easily implementable. Furthermore, to improve the robustness, an adaptive version that estimates the rotor resistance is proposed. Tuning rules for the PI gains are also provided. Finally, an outer loop control for the mechanical speed is introduced. The complete control system is tested both in simulations and experiments, showing good transient performance and robustness properties. C.B. and A.D.C. were partially supported by the CICYT project DPI2004-06871-CO2-02. The work of R.O. was partially funded by the European Network of Excellence HyCON.

IEEE Transactions on Power Electronics, 2013

ABSTRACT The paper [1] proposes a very simple and attractive algorithm for controlling both activ... more ABSTRACT The paper [1] proposes a very simple and attractive algorithm for controlling both active and reactive powers of a DFIM with a unique feedback control loop. In this technical note, it is proved that the presented algorithm in [1] yields a marginally stable closed-loop system (for the rotor currents). This fact could imply undesired oscillations in the rotor variables, which, eventually, can be large for certain disturbances. The control law in [1] (which has been cited in more than 100 journal and conference papers) has probably been tested and implemented several times in a real application. However, as the rotor current oscillations are with the same frequency than the power grid (or twice in the three-phase framework), they may have been attributed to the presence of grid-coupling noise or small unbalanced effects instead of the inherent marginal stability of the closed-loop dynamics. The problem detected could be overcome using two nested loops, as many references propose (see a general example in [3] or a recent application in [4]), or adopting amore advanced control design technique [5].

We consider a doubly-fed induction machine-controlled through the rotor voltage and connected to ... more We consider a doubly-fed induction machine-controlled through the rotor voltage and connected to a variable local load-that acts as an energy-switching device between a local prime mover (a flywheel) and the electrical power network. The control objective is to optimally regulate the power flow which is achieved commuting between two different steady-state regimes. We first show that the zero dynamics of the system is only marginally stable complicating its control via feedback linearization. Instead, we apply the energy-based Interconnection and Damping Assignment Passivity-Based Control technique that does not require stable invertibility. It is shown that the partial differential equation that appears in this method can be obviated fixing the desired closed-loop total energy and adding new terms to the interconnection structure. Furthermore, to obtain a globally defined control law we introduce a state-dependent damping term that has the nice interpretation of effectively decoupling the electrical and mechanical parts of the system. This results in a globally asymptotically stabilizing controller parameterized by two degrees of freedom, which can be used to implement the power management policy. An indirect adaptive scheme for the rotor and stator resistances is also introduced. The controller is simulated and shown to work satisfactorily for various realistic load changes. * This work has been done in the context of the European sponsored project Geoplex with reference code IST-2001-34166. Further information is available at http://www.geoplex.cc † The work of Carles Batlle has been partially done with the support of the spanish project Mocoshev, DPI2002-03279. ‡ The work of Arnau Dòria-Cerezo was (partially) supported through a European Community Marie Curie Fellowship in the framework of the European Control Training Site.

International Journal of Control, Jan 22, 2009

and-conditions-of-access.pdf This article may be used for research, teaching and private study pu... more and-conditions-of-access.pdf This article may be used for research, teaching and private study purposes. Any substantial or systematic reproduction, redistribution , reselling , loan or sub-licensing, systematic supply or distribution in any form to anyone is expressly forbidden. The publisher does not give any warranty express or implied or make any representation that the contents will be complete or accurate or up to date. The accuracy of any instructions, formulae and drug doses should be independently verified with primary sources. The publisher shall not be liable for any loss, actions, claims, proceedings, demand or costs or damages whatsoever or howsoever caused arising directly or indirectly in connection with or arising out of the use of this material.

IEEE Transactions on Robotics, Feb 1, 2023

European Journal of Control, 2005

This paper presents a new nonlinear passivitybased controller for a wound rotor synchronous machi... more This paper presents a new nonlinear passivitybased controller for a wound rotor synchronous machine, acting as a motor drive. From the standard dq-model the control objectives are stated, and the Port-controlled Hamiltonian model is also obtained. A simple power flow study allows to state the control goals in terms of reactive power compensation and ohmic losses reduction. Starting from the Hamiltonian structure, the Simultaneous Interconnection and Damping Assignment (SIDA-PBC) technique is used to develop the control action. The desired robustness of the control action is also taken into account in the design procedure. This results in a globally asymptotically stabilizing controller, which is validated via numerical simulations.

In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that of... more In this paper we propose a new control scheme for the doubly-fed induction machine (DFIM) that offers significant advantages, and is considerably simpler, than the classical vector control method. In contrast with the latter, where the DFIM is represented in a stator flux-oriented frame, we propose here a model with orientation of the stator voltage. This allows for an easy decomposition of the active and reactive powers on the stator side and their regulation-acting on the rotor voltage-via stator current control. Our main contribution is the proof that a linear PI control around the stator currents ensures global stability for a feedback linearized DFIM, provided the gains are suitably selected. The feedback linearization stage requires only measurement of the rotor and stator currents, hence is easily implementable. Finally, an outer loop control for the mechanical speed is introduced. The complete control system is tested both in simulations and experiments, showing good transient performance and robustness properties.

International Journal of Electrical Power & Energy Systems, Feb 1, 2013

In this paper the stator-side power regulation control problem of DFIM is approached. It is shown... more In this paper the stator-side power regulation control problem of DFIM is approached. It is shown how a passivity-based controller can deal with this problem establishing a viable solution from both a dynamic performance perspective and a practical implementation point of view. The evaluation of the presented scheme is carried out by considering typical operation conditions, namely: active power generation with demanded or delivered reactive power. Special interest is given to the rigorous establishment of the stability properties of the closed-loop system, which allows for achieving remarkable dynamic responses, in terms of convergence rates as well as the region of attraction of the equilibrium point defined by a given operation regime. From a practical viewpoint, the usefulness of the scheme is concluded by realizing that the requirements imposed concerning the structural features of both the generator by itself and the power converter required for its operation, can be fulfilled by commercially available off-the-shelf devices.

Mechanism and Machine Theory, 2017

The analysis of a captured motion can be addressed by means of forward or inverse dynamics approa... more The analysis of a captured motion can be addressed by means of forward or inverse dynamics approaches. For this purpose, a 12 segment 2D model with 14 degrees of freedom is developed and both methods are implemented using multibody dynamics techniques. The inverse dynamic analysis uses the experimentally captured motion to calculate the joint torques produced by the musculoskeletal system during the movement. This information is then used as input data for a forward dynamic analysis without any control design. This approach is able to reach the desired pattern within half cycle. In order to achieve the simulation of the complete gait cycle two different control strategies are implemented to stabilize all degrees of freedom: a proportional derivative (PD) control and a computed torque control (CTC). The selection of the control parameters is presented in this work: a kinematic perturbation is used for tuning PD gains, and pole placement techniques are used in order to determine the CTC parameters. A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.

IET Electric Power Applications

This paper presents the desired current references in order to minimize the torque ripple for a S... more This paper presents the desired current references in order to minimize the torque ripple for a Switched Reluctance Motor. From the torque equation, and using switch on and switch off angles, the desired current waveforms are obtained. Simulations validates the study and are compared with the constant current references case.

RSME Springer series, 2023

IFAC Proceedings Volumes, 2011

It is known that straightforward application of the classical Lagrangian and Hamiltonian formalis... more It is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formulation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional non-conservative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this paper, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamiltonian formalism combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.

Journal of Applied Mechanics, Aug 24, 2011

is known that straightforward application of the classical Lagrangian and Hamiltonian formalism t... more is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formidation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional noncon,^ervative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this note, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamittonian formali.sm combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.

arXiv: Popular Physics, 2020

Human towers or castells are human structures played in festivals mainly in Catalonia. These uniq... more Human towers or castells are human structures played in festivals mainly in Catalonia. These unique cultural and traditional displays have become very popular in the last years, but they date from the XVIII century. On 2010 they became part of the Unesco Representative List of the Intangible Cultural Heritage of Humanity. Safety is very important in the performance of castells. To this end, it is crucial to understand the mechanisms that allow a castell to be built and, more importantly, the factors that may cause its collapse. This work is focused on the mechanical aspects that make a pilar (the simplest structure in the castells) to stand. We suggest three different but complementary approaches for the running stage of a pilar (stage where it has been built and has not yet collapsed): the NNN-link pendulum as a first dynamical model, the response of the castellers as a control problem, and a static analysis to capture the feasibility of a given configuration. We include some preli...

IET Control Theory & Applications, 2012

A family of passivity-based controllers for dynamic positioning of ships is presented. The author... more A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based control law using the interconnection and damping assignment-passivity-based control (IDA-PBC) methodology. A salient feature of this study is that the proposed control laws are output feedback controllers and the relative velocity measurement is not required. First, we design and analyse two static controllers which can be seen as a non-linear version of the conventional proportional-derivative (PD) controllers. In presence of unknown disturbances, these controllers do not provide the desired regulation properties. To remove this discrepancy we propose, also in the context of the IDA-PBC technique, a dynamic extension of the system and obtain two new controllers that have the desired regulation properties. These new control laws can be seen as a non-linear version of the conventional proportional-integral-derivative (PID) controllers. Simulations are included to validate the theoretical results.