Instructors: Antonio Franchi
Course web page: link
Credits: 6
Infostud code: 10592976

Objectives

The course will cover, at master's degree level, the modeling and control of various types of dynamic systems based on the Port-Hamiltonian formalism and Bond Graphs. The discussion will be methodological, with nontrivial application to the control of physical interaction of aerial robots.

Program

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

Type of exam: TBC

Reference texts

V. Duindam, A.Macchelli, S. Stramigioli, H. Bruyninckx, Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach, Springer, 2009

F. Bullo, A.D. Lewis, Geometric Control of Mechanical Systems, Modeling, Analysis, and Design for Simple Mechanical Control Systems, Springer, 2005

A. van der Schaft, 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.