Advanced Methods in Control

AA 2023-24

Announcements

2024/02/25: The start of the class is on Tuesday 27/02/2024 at 10:00 in room A2 (DIAG)
2024/01/15: Send a mail to antonio.franchi at uniroma1.it via  your institutional email to be added to the communication mailing list
2024/01/15: The first lecture will be in the week starting on February 26th 2024, more information will come

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: 2023-2024,
Language: English
Teachers: Prof. Antonio Franchi, Prof.. Stefano Stramigioli

Communication

General communication is done through the group https://groups.google.com/g/amc2024
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/1F55e8kqYHye1mzbI3jHAGJZtvBYaQAVG
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

1. Mathematical background

   • linear/multilinear algebra vector/tensors

   • differential geometry

2. 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

3. 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)

4. 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