Advanced Methods in Control
AA 2022-23
Announcements
2023/02/22: The learning material is now available in the shared folder https://drive.google.com/drive/folders/175xnpIc4W4e4BEZ3DBfUjC52fryhCytL
2023/02/21: Send a mail to franchi at diag.uniroma1.it via your institutional email to be added to the communication mailing list
2023/02/20: The first lecture will be on Wednesday Feb. 22nd at 10AM in Room A2
General Info
Class name: Advanced Methods in Control (10592976)
University: Sapienza University of Rome
Master's name: Control Engineering
Master's Year: 2nd year, 2nd semester
Academic Year: 2022-2023,
Language: English
Teachers: Prof. Antonio Franchi, Dr. Ramy Rashad
Communication
General communication is done through the group https://groups.google.com/g/amc2023
How to join the group: send a mail to antonio.franchi ... uniroma1.it via your institutional email
Learning Material and Lecture Syllabus
In the shared folder: https://drive.google.com/drive/folders/175xnpIc4W4e4BEZ3DBfUjC52fryhCytL
How to get access to the folder: join the google group (see above)
Objectives of the class
Main objective
Introduce the students to port-Hamiltonian methods for design controllers for lumped-parameter multi-physical systems (electrical, mechanical, thermodynamical, etc.…)
Subgoals
introduction to the geometric port-Hamiltonian framework and to bond-graphs
introduction to main port-Hamiltonian control methods ushc as Energy shaping Passivity Based Control (ES-PBC), Interconnection and Damping Assignment Passivity Based Control (IDA-PBC), Control by Interconnection, Energy aware control
provide concrete real-life case-study of application usch as Contact-free flight aerial robotics and Physical interaction in aerial robotics
Content of the class
IMPORTANT: for the detailed content refer to the syllabus present in the shared folder
Mathematical background
linear/multilinear algebra vector/tensors
differential geometry
Port-based modeling of systems
general modeling philosophy
introduction to the concept of port, of storage/dissipation elements, and power continuous/preserving interconnection
use of bond graphs as natural visualization of a port-based system
instantiation of general concepts to physical systems
examples of multiphysical systems
Port-based control
Passivity of pH systems
Energy shaping Passivity Based Control (ES-PBC)
Interconnection and Damping Assignment Passivity Based Control (IDA-PBC)
Control by Interconnection
Energy aware control (Energy tanks)
Applications
Contact-free flight aerial robotics
Physical interaction in aerial robotics
Useful References
Books:
Duindam, V., Macchelli, A., Stramigioli, S., & Bruyninckx, H. (Eds.). (2009). Modeling and control of complex physical systems: the port-Hamiltonian approach. Springer Science & Business Media.
Bullo F. and Lewis. A. D., (2005) Geometric Control of Mechanical Systems, Modeling, Analysis, and Design for Simple Mechanical Control Systems, Springer
A. van der Schaft and D. Jeltsema. Port-Hamiltonian Systems Theory: An Introductory Overview. Foundations and Trends in Systems and Control, vol. 1, no. 2-3, pp. 173–378, 2014.
Rashad, R. (2021). Energy-based modeling and control of interactive aerial robots: A geometric port-Hamiltonian approach. PhD Thesis
Articles:
Ortega, R., Van Der Schaft, A. J., Mareels, I., & Maschke, B. (2001). Putting energy back in control. IEEE Control Systems Magazine, 21(2), 18-33.
Ortega, R., & Garcia-Canseco, E. (2004). Interconnection and damping assignment passivity-based control: A survey. European Journal of control, 10(5), 432-450.
Califano, F., Rashad, R., Secchi, C., & Stramigioli, S. (2022). On the use of energy tanks for robotic systems. arXiv preprint arXiv:2211.17033.
Rashad, R. , Bicego, D., Zult, J., Sanchez-Escalonilla, S., Jiao, R. , Franchi, A. , & Stramigioli, S. (2022). Energy Aware Impedance Control of a Flying End-effector in the Port-Hamiltonian Framework. IEEE transactions on robotics, 38(6), 3936-3955. [9813358]. https://doi.org/10.1109/TRO.2022.3183532