Interconnection and damping assignment passivity-based control: a survey

TL;DR: The main objectives of this paper are to extend the CbI method to make it more widely applicable and to overcome the aforementioned dissipation obstacle, and to show that various popular variants of Standard PBC can be derived proceeding from a unified perspective.

TL;DR: The problem of (asymptotic) stabilization of mechanical systems with underactuation degree one is considered and a state-feedback design is derived applying the interconnection and damping assignment passivity-based control methodology that endows the closed-loop system with a Hamiltonian structure with desired potential and kinetic energy functions.

TL;DR: In this paper, a survey of underactuated mechanical systems (UMS) is presented, from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.

TL;DR: In this paper, the authors consider the problem of grid-forming control of power converters in low-inertia power systems and propose a novel converter control strategy which dwells upon the main characteristic of a synchronous machine (SM) model, the presence of an internal rotating magnetic field.

TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.

TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.