Energy-based control approaches for weakly coupled electromechanical systems

Authors

Najmeh Javanmardi, Pablo Borja, Mohammad Javad Yazdanpanah, Jacquelien M.A. Scherpen

Abstract

This paper addresses the stabilization and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need to solve partial differential equations or implement any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems through simulations.

Keywords

Electromechanical systems; Port-Hamiltonian systems; Trajectory tracking; Energy shaping; Coupled damping; Contractive systems

Citation

• Journal: Automatica
• Year: 2025
• Volume: 177
• Issue:
• Pages: 112336
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2025.112336

BibTeX

@article{Javanmardi_2025,
  title={{Energy-based control approaches for weakly coupled electromechanical systems}},
  volume={177},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2025.112336},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Javanmardi, Najmeh and Borja, Pablo and Yazdanpanah, Mohammad Javad and Scherpen, Jacquelien M.A.},
  year={2025},
  pages={112336}
}

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