Energy-Based Control Approaches for Weakly Coupled Electromechanical Systems

TL;DR

This paper introduces energy-based control methods for weakly coupled electromechanical systems using port-Hamiltonian models, avoiding complex PDEs and coordinate changes, with demonstrated effectiveness through simulations.

Contribution

It develops novel control approaches within the port-Hamiltonian framework that are simple, physically interpretable, and do not require solving PDEs or coordinate transformations.

Findings

Control methods effectively regulate and track trajectories.

Coupled damping influences transient performance.

Simulation results validate the proposed approaches.

Abstract

This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need for solving partial differential equations or implementing any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems via simulations.