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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Energy Shaping And Interconnection And Damping Assignment
Control In The Bond Graph Domain |
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Authors: |
Alejandro Donaire, Sergio Junco |
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Published in:
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(2006).ECMS
2006 Proceedings edited by: W. Borutzky, A. Orsoni, R. Zobel. European
Council for Modeling and Simulation. doi:10.7148/2006 ISBN:
0-9553018-0-7 20th
European Conference on Modelling and Simulation, Bonn,
May 28-31, 2006 |
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Citation
format: |
Donaire, A., & Junco, S. J.
(2006). Energy Shaping And Interconnection And Damping Assignment Control In
The Bond Graph Domain. ECMS 2006 Proceedings edited by: W. Borutzky, A.
Orsoni, R. Zobel (pp. 173-180). European Council for
Modeling and Simulation. doi:10.7148/2006-0173 |
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DOI: |
http://dx.doi.org/10.7148/2006-0173 |
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Abstract: |
This paper
presents an interpretation in the Bond Graph domain of the Energy Shaping and
Interconnection and Damping Assignment control methods, developed for the
well-known Port-Controlled Hamiltonian Systems with Dissipation. In order to
have a stable equilibrium at a prespecified state, the energy function is
modified by adding storage elements to the BG such that the closedloop system
energy has a minimum at that state. A new dissipation function is assigned
changing the R-field and its interconnection with the rest of the Bond
Graph. A desired power conserving interconnection structure is reached
through the suitable insertion of power bonds among junctions. Energy
shaping, interconnection and damping assignment are performed in a so called
Target Bond Graph. The
control law is determined by a set of partial differential equations derived
from the plant and the Target Bond Graph. |
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