Carles Batlle - Academia.edu (original) (raw)

Papers by Carles Batlle

arXiv (Cornell University), Apr 27, 2016

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to the model order reduction of a linear system of masses and springs with parameter dependent coefficients.

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to the model order reduction of a linear system of masses and springs with parameter dependent coefficients.

IFAC-PapersOnLine, 2019

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to a system of masses and springs with parameter dependent coefficients.

IFAC-PapersOnLine, 2015

This work presents in detail the fuzzy control design for yaw and velocity control of an autonomo... more This work presents in detail the fuzzy control design for yaw and velocity control of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations of forward velocity. The model is linearized and several linear controllers are designed for actuation at certain situations, in a way that the fuzzy control allows to handle these controllers globally.

Revista Iberoamericana de Automática e Informática Industrial RIAI, 2015

Two studies about a full-bridge boost rectifier are reported in this deliverable. In the first on... more Two studies about a full-bridge boost rectifier are reported in this deliverable. In the first one the converter is analyzed in the frame of Variable Structure Systems and Sliding Mode. In the section 2 of the deliverable, the converter is analyzed in the frame of PCHS and controlled using IDA-PBC. The later includes experimental results. The results reported here for both approaches can be generalized to several plants. The particularization to the full-bridge boost rectifier is natural, as this converter is supposed to be used in the Flywheel system to feed the rotor of the DFIM. Section 1 studies the dynamics of a single-phase unity power factor full-bridge boost converter circuit and develops a nonlinear controller for the regulation of its output DC voltage, which keeps the input power factor close to unity. The controller has a two loop structure: the inner is a fast dynamic response loop with a sliding controller shaping the inductor input current of the converter, and the outer is a linear controlled slow dynamic response loop that regulates the output DC voltage. The squared value of the DC voltage is passed through a LTI notch filter to eliminate its ripple before using it in the outer control loop. This filter, consequently, allows one to expand the bandwidth of the loop and improves its dynamic response. An Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) for a fullbridge rectifier is presented in Section 2. The closed loop system performance fulfils unity power factor in the AC mains and output DC voltage regulation. The controller design takes advantage of the Generalized State Space Averaging (GSSA) modelling technique to convert the quoted non-standard problem (in actual variables) into a standard regulation one (in GSSA variables). In this approach, the output current is the measured signal instead of the line current; therefore, the number of sensors does not increase in comparison with traditional approaches. The whole system is robust with respect to load variations.

Interconnection and damping assignment passivity based control (IDA-PBC) is a well known techniqu... more Interconnection and damping assignment passivity based control (IDA-PBC) is a well known technique for port Hamiltonian dissipative systems (PHDS). In this paper we point out the kind of problems that can appear in the closed-loop structure obtained by IDA-PBC methods for relative degree one outputs, when nominal values are used in a system with uncertain parameters. In particular, we show that, in general, the positive semidefiniteness of the dissipation matrix breaks down, at least, in a neighborhood of the desired regulation point, preventing thus the use of LaSalle's theorem. Nevertheless, we present an example where the closedloop system regulates to a fixed point, albeit different from the desired one. To correct this, we introduce an integral control, which can be cast into the Hamiltonian framework. Numerical simulations for our example show that the closed-loop system regulates to the desired point, although a rich dynamical behaviour is obtained when the feedback parameters are varied.

2013 MTS/IEEE OCEANS - Bergen, 2013

This work presents a mathematical study to obtain the coefficients that define the dynamics of an... more This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

arXiv (Cornell University), Apr 27, 2016

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to the model order reduction of a linear system of masses and springs with parameter dependent coefficients.

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to the model order reduction of a linear system of masses and springs with parameter dependent coefficients.

IFAC-PapersOnLine, 2019

We provide an analytical framework for balanced realization model order reduction of linear contr... more We provide an analytical framework for balanced realization model order reduction of linear control systems which depend on an unknown parameter. Besides recovering known results for the first order corrections, we obtain explicit novel expressions for the form of second order corrections for singular values and singular vectors. The final result of our procedure is an order reduced model which incorporates the uncertain parameter. We apply our algorithm to a system of masses and springs with parameter dependent coefficients.

IFAC-PapersOnLine, 2015

This work presents in detail the fuzzy control design for yaw and velocity control of an autonomo... more This work presents in detail the fuzzy control design for yaw and velocity control of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations of forward velocity. The model is linearized and several linear controllers are designed for actuation at certain situations, in a way that the fuzzy control allows to handle these controllers globally.

Revista Iberoamericana de Automática e Informática Industrial RIAI, 2015

Two studies about a full-bridge boost rectifier are reported in this deliverable. In the first on... more Two studies about a full-bridge boost rectifier are reported in this deliverable. In the first one the converter is analyzed in the frame of Variable Structure Systems and Sliding Mode. In the section 2 of the deliverable, the converter is analyzed in the frame of PCHS and controlled using IDA-PBC. The later includes experimental results. The results reported here for both approaches can be generalized to several plants. The particularization to the full-bridge boost rectifier is natural, as this converter is supposed to be used in the Flywheel system to feed the rotor of the DFIM. Section 1 studies the dynamics of a single-phase unity power factor full-bridge boost converter circuit and develops a nonlinear controller for the regulation of its output DC voltage, which keeps the input power factor close to unity. The controller has a two loop structure: the inner is a fast dynamic response loop with a sliding controller shaping the inductor input current of the converter, and the outer is a linear controlled slow dynamic response loop that regulates the output DC voltage. The squared value of the DC voltage is passed through a LTI notch filter to eliminate its ripple before using it in the outer control loop. This filter, consequently, allows one to expand the bandwidth of the loop and improves its dynamic response. An Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) for a fullbridge rectifier is presented in Section 2. The closed loop system performance fulfils unity power factor in the AC mains and output DC voltage regulation. The controller design takes advantage of the Generalized State Space Averaging (GSSA) modelling technique to convert the quoted non-standard problem (in actual variables) into a standard regulation one (in GSSA variables). In this approach, the output current is the measured signal instead of the line current; therefore, the number of sensors does not increase in comparison with traditional approaches. The whole system is robust with respect to load variations.

Interconnection and damping assignment passivity based control (IDA-PBC) is a well known techniqu... more Interconnection and damping assignment passivity based control (IDA-PBC) is a well known technique for port Hamiltonian dissipative systems (PHDS). In this paper we point out the kind of problems that can appear in the closed-loop structure obtained by IDA-PBC methods for relative degree one outputs, when nominal values are used in a system with uncertain parameters. In particular, we show that, in general, the positive semidefiniteness of the dissipation matrix breaks down, at least, in a neighborhood of the desired regulation point, preventing thus the use of LaSalle's theorem. Nevertheless, we present an example where the closedloop system regulates to a fixed point, albeit different from the desired one. To correct this, we introduce an integral control, which can be cast into the Hamiltonian framework. Numerical simulations for our example show that the closed-loop system regulates to the desired point, although a rich dynamical behaviour is obtained when the feedback parameters are varied.

2013 MTS/IEEE OCEANS - Bergen, 2013

This work presents a mathematical study to obtain the coefficients that define the dynamics of an... more This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.