• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1652_1653
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• 2009

본 논문에서는 passivity based controller에 high gain observer를 접목시킨 유압 모터의 위치 제어기를 제시 한다. 본 논문에서는 5차 비선형 동역학 모델을 사용 하였다. Passivity based controller는 유압 모터의 높은 위치 추정능력을 구현하지만 그것을 위해서는 유압 모터의 상태 및 부하의 정보를 알아야 한다. 상태 및 부하의 정보를 추정 하기 위하여 high gain observer를 제안하였다. High gain observer을 사용함으로서 유압 모터와 부하의 동역학의 비선형성을 줄여 상태 및 부하를 효과적으로 추정 하였다. 유압 모터의 위치 제어 성능 및 부하의 관측 능력 평가를 위하여 Matlab/Simulink를 이용하여 모의 실험을 구현 하였다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2103-2108
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• 2011

In this paper, the problem of passivity analysis for neural networks with time-varying delays and norm-bounded parameter uncertainties is considered. By constructing a new augmented Lyapunov functional, a new delay-dependent passivity criterion for the network is established in terms of LMIs (linear matrix inequalities) which can be easily solved by various convex optimization algorithms. Two numerical example are included to show the effectiveness of proposed criterion.

• Journal of Power Electronics
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• v.18 no.1
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• pp.147-159
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• 2018

In this paper, the voltage tracking control of a conventional DC-DC boost converter affected by unknown, time-varying circuit parameter perturbations is investigated. Based on the fundamental property of incremental passivity, a passivity based control law is designed. Then, to obtain a better disturbance rejection property, two generalized proportional integral (GPI) observers are employed to estimate the time-varying uncertainties in the output voltage and inductor current channels, and the estimated values are applied as feedforward compensation. Moreover, the global trajectory tracking performance of a system with disturbances is ensured under the composite controller. Finally, simulation and experiment studies are provided to demonstrate the feasibility and effectiveness of the proposed method. The results show that the proposed controller delivers a promising disturbance rejection capability as well as a good nominal tracking performance.

• Journal of Power Electronics
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• v.19 no.6
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• pp.1527-1535
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• 2019

Because of the shortcomings of the PID controllers and traditional drive systems of permanent magnet synchronous motors (PMSMs), a PMSM passivity-based control (PBC) drive system based on a quasi-Z source matrix converter (QZMC) is proposed in this paper. The traditional matrix converter is a buck converter with a maximum voltage transmission ratio of only 0.866, which limits the performance of the driven motor. Therefore, in this paper a quasi-Z source circuit is added to the input side of the two-stage matrix converter (TSMC) and its working principle has also been verified. In addition, the controller of the speed loop and current loop in the conventional vector control of a PMSM is a PID controller. The PID controller has the problem since its parameters are difficult to adjust and its anti-interference capability is limited. As a result, a port controlled dissipative Hamiltonian model (PCHD) of a PMSM is established. Thereafter a passivity-based controller based on the interconnection and damping assignment (IDA) of a QZMC-PMSM is designed, and the stability of the equilibrium point is theoretically verified. Simulation and experimental results show that the designed PBC control system of a PMSM based on a QZMC can make the PMSM run stably at the rated speed. In addition, the system has strong robustness, as well as good dynamic and static performances.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.23-25
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• 2005

This paper is devoted to the passivity based control in bilateral teleoperation for varying time delay. Toimprove the stability and task performance, master and slave in bilateral teleoperation must be coupled via the network through which the force and velocity are communicated. However, time delay existing in the transmission channel is a long standing impediment to bilateral control and can destabilize the system, even if the system is stable without time delay, In this paper, we investigate how the varying time delay affects the advanced teleoperation stability and results in an out-of-control status. A new approach based on passivity control has been bilaterally designed for both the master and slave sites and the simulation result will verify that our approach is better and effective for passive bilateral teleoperation.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.2
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• pp.53-57
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• 2012

The mathematical model of a three-phase voltage source pulse-width modulation (PWM) DC/AC inverter is non-linear, and in view of the traditional linear control strategy it can not meet the requirements of designing a high-performance inverter. What's more, when the loads are not pure resistive loads, the inverter further requires that the controller possess high-performance. This paper proposes a nonlinear control strategy for the inverter called Passivity-based Control. We can alter the inverter model in three-phase abc coordinate to two-phase synchronous rotating dq coordinate for establishing the port-control Hamiltonian (PCH) model for this system. We can control the distribution of energy in the system to achieve the control aim. Simulation results show that the passivity-based control method can make this system possess a level of high-performance that is both robust and dynamic.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.97-99
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• 2009

Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with the time delay varying depending on factors such as congestion, bandwidth or distance. And the entire system is easy to become unstable due to irregular time delay. Passivity concept has been using as a framework to solve the stability problem in bilateral control of teleoperation. Acontrol scheme for teleoperation systems with varying time delay is proposed based on a passivity concept is proposed in this paper. One approach makinguse of the characteristic impedances is proposed to achieve a passive control. Since passive control does not mean that the system performance will be acceptable, another transmission scheme which focuses on both the passive feature and the acceptable performance is configured for varying time delay in this paper. The tracking performance has been proved through the computer simulation for varying time delay bilateral teleoperation system using Matlab Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.59.3-59
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• 2002

$\textbullet$ Contents 1: Preliminaries on passivity and feedback passivity $\textbullet$ Contents 2: Assumptions in the paper $\textbullet$ Contents 3: Adaptive output feedback controllers $\textbullet$ Contents 4: Adaptive disturbance attenuation $\textbullet$ Contents 5: Adaptive passification $\textbullet$ Contents 6: An illustrative numerical example

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.426-427
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• 2011