Dynamic IDA-PBC control for weakly-coupled electromechanical systems

摘要

In this paper we propose a dynamic feedback controller by adopting the interconnection and damping assignment passivity based control (IDA-PBC) method, to stabilize a class of weakly-coupled electromechanical systems. These systems are characterized by a weak coupling between the electrical and mechanical subsystems (dynamics) which limits the application of classical energy shaping control methods. The proposed design method incorporates a change of coordinates to construct the controller. It also introduces the use of an integral control and damping injection to the mechanical coordinates, to enhance the coupling between the subsystems, ensuring asymptotic stability, while improving the robustness of the systems against external disturbances and noise. The results are applied to two groups of systems; the electrostatic MEMS devices and the magnetic levitation. Numerical simulations are provided to illustrate the use and analyze the performance of the proposed control methods. (C) 2020 Elsevier Ltd. All rights reserved.