Title: "Generation of oscillations in nonlinear systems: application to nonholonomic systems"
given by Prof. Romeo Ortega, from LSS-Centrale Supelec, France.
Lunes 9 de marzo de 16 a 18 h en el aula 008 de la ETSI.
Slides: https://consigna.us.es/539284
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Summary:
In this talk we show that a slight modification to the widely popular interconnection and
damping assignment (IDA) passivity-based control and the (I&I) inmersion and invariance
methods—originally proposed for stabilization of equilibria of nonlinear systems—allows
us to provide solutions to the more challenging orbital stabilization problem. For the IDA
approach, two different, though related, ways how this procedure can be applied are proposed.
First, the assignment of an energy function that has a minimum in a closed curve, i.e., with
the shape of a Mexican sombrero. Second, the use of a damping matrix that changes “sign"
according to the position of the state trajectory relative to the desired orbit, that is, pumping
or dissipating energy. The proposed methodologies are illustrated with the example of the
induction motor and prove that it yields the industry standard field oriented control. We
also show that ensuring orbital stabilization for mechanical systems is best formulated using
a variation of the I&I technique and apply this result to generate smooth, time-invariant
controllers for nonholonomic systems. These results have been reported in:
1. Orbital stabilization of nonlinear systems via the immersion and invariance technique,
R. Ortega, B. Yi, J. G. Romero and A. Astolfi, Int. J. on Robust and Nonlinear
Control, (to appear). (arXiv:1810.00601)
2. Orbital stabilization of nonlinear systems via energy shaping and pumping-and-damping
injection, B. Yi, R. Ortega, D. Wu and W. Zhang, Automatica, (to appear).
3. Smooth, time-invariant regulation of nonholonomic systems via energy pumping-anddamping,
B. Yi, R. Ortega and W. Zhang: Int. J. on Robust and Nonlinear Control,
(submitted), (arXiv:1712.08209.).
Brief CV:
Romeo Ortega was born in Mexico. He obtained his BSc in Electrical and Mechanical
Engineering from the National University of Mexico, Master of Engineering from Polytechnical
Institute of Leningrad, USSR, and the Docteur D‘Etat from the Politechnical Institute
of Grenoble, France in 1974, 1978 and 1984 respectively.
He then joined the National University of Mexico, where he worked until 1989. He was a
Visiting Professor at the University of Illinois in 1987-88 and at McGill University in 1991-
1992, and a Fellow of the Japan Society for Promotion of Science in 1990-1991. He has been
a member of the French National Research Council (CNRS) since June 1992. Currently he
is a Directeur de Recherche in the Laboratoire de Signaux et Systèmes (CentraleSupelec)
in Gif-sur-Yvette, France. His research interests are in the fields of nonlinear and adaptive
control, with special emphasis on applications.
Dr Ortega has published three books and more than 350 scientific papers in international
journals, with an h-index of 84. He has supervised 35 PhD thesis. He is a Life Fellow Member
of the IEEE since 1999 and an IFAC Fellow since 2016. He has served as chairman in several
IFAC and IEEE committees and participated in various editorial boards of international
journals. Currently he is the Editor in Chief of Int. J. on Adaptive Control and Signal
Processing and Editor at Large of Asian J. of Control.