FEEDBACK REGULATION OF A DC MOTOR VIA INTERCONNECTION AND DAMPING ASSIGNMENT

Authors

Atilio Morillo, Miguel Rios-Bolívar, Vivian Acosta

Abstract

In this work, we consider the application of the Interconnection and Damping Assignment (IDA) control methodology, recently proposed in the literature, to the asymptotic position regulation problem of a brushed DC motor driving a mechanical load. To achieve this objective the electromechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and the asymptotic stability of the mechanical position is verified by digital simulations.

Keywords

motor control, nonlinear control systems, stabilizing controllers

Citation

Journal: IFAC Proceedings Volumes
Year: 2005
Volume: 38
Issue: 1
Pages: 406–410
Publisher: Elsevier BV
DOI: 10.3182/20050703-6-cz-1902.00722
Note: 16th IFAC World Congress

BibTeX

@article{Morillo_2005,
  title={{FEEDBACK REGULATION OF A DC MOTOR VIA INTERCONNECTION AND DAMPING ASSIGNMENT}},
  volume={38},
  ISSN={1474-6670},
  DOI={10.3182/20050703-6-cz-1902.00722},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Morillo, Atilio and Rios-Bolívar, Miguel and Acosta, Vivian},
  year={2005},
  pages={406--410}
}

Download the bib file

References

Bloch, A. M., Leonard, N. E. & Marsden, J. E. Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem. IEEE Trans. Automat. Contr. 45, 2253–2270 (2000) – 10.1109/9.895562
Chang, The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems. Control and the Calculus of Variations (2002)
Dawson, (1998)
Hamberg, J. Controlled Lagrangians, Symmetries and Conditions for Strong Matching. IFAC Proceedings Volumes 33, 57–62 (2000) – 10.1016/s1474-6670(17)35547-7
Meisel, (1969)
Ortega, (1998)
Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002) – 10.1109/tac.2002.800770
Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
Rodríguez, H. & Ortega, R. Stabilization of electromechanical systems via interconnection and damping assignment. Intl J Robust & Nonlinear 13, 1095–1111 (2003) – 10.1002/rnc.804
Rodriguez, H., Astolfi, A. & Ortega, R. Adaptive partial state feedback stabilization of a class of electromechanical systems via immersion and invariance. Proceedings of the 2003 American Control Conference, 2003. vol. 4 3293–3298 – 10.1109/acc.2003.1244039
van der Schaft, (2000)