Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications

Citation

(1999), "Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications", Industrial Robot, Vol. 26 No. 3. https://doi.org/10.1108/ir.1999.04926cae.003

Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications

Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications

R. Ortega, A. Lonia, P.J. Nicklasson and H. Sira-RamirezSpringer1998543 pp.ISBN 1-85233-016-3£60.00 Hardcover

This book is primarily aimed at graduate students and researchers with an interest in engineering applications for control theory. This book is relatively easy to read as the concepts and theories covered are clearly explained. There is a very useful section near the start of the book giving details of the most commonly used acronyms and mathematical symbols.

Euler-Lagrange (EL) systems, passivity, applications and the advantages of Passivity-based Control (PBC) are explained in chapter 1. Chapter 2 presents the background theory for EL systems, along with the mathematical descriptions of the systems covered throughout the book, fundamental input-output and Lyapunov stability properties and some of the basic features of their interconnection. Subsequent chapters are divided into three parts devoted to mechanical, electrical and electromechanical systems, respectively.

Part 1, Mechanical Systems, includes chapters on set-point regulation, trajectory tracking control and adaptive disturbance attenuation: friction compensation, while Part 2, Electrical Systems, covers the modelling of switched DC to DC power converters and Passivity-based control of DC to DC power converters. The final part of the book, Electromechanical Systems, discusses: Nested-loop passivity-based control: An illustrated example; the generalised AC motor, voltage-fed and current-fed induction motors; and Feedback interconnection system: Robots with AC drives.

Chapter 13 discusses alternative applications of Passivity-based control and other research topics.

Appendices A, B and C include background material on passivity, variational modelling and vector calculus, respectively. Appendix D contains the most technical mathematical proofs.