Optimized partial eigenstructure assignment-based design of a combined PSS and active damping controller for a DFIG

2010 ◽  
Author(s):  
Niraj Kshatriya ◽  
Udaya Annakkage ◽  
Michael Hughes ◽  
Aniruddha Gole
Keyword(s):  
Active Damping ◽  
Eigenstructure Assignment ◽  
Damping Controller

Optimized Partial Eigenstructure Assignment-Based Design of a Combined PSS and Active Damping Controller for a DFIG

2010 ◽  
Vol 25 (2) ◽  
pp. 866-876 ◽  
Author(s):  
Niraj Kshatriya ◽  
Udaya D. Annakkage ◽  
F. Michael Hughes ◽  
Aniruddha M. Gole
Keyword(s):  
Active Damping ◽  
Eigenstructure Assignment ◽  
Damping Controller

Design of a wide area damping controller based on partial right eigenstructure assignment

2016 ◽  
Vol 134 ◽  
pp. 134-144 ◽  
Author(s):  
Parimal Saraf ◽  
Karthikeyan Balasubramaniam ◽  
Ramtin Hadidi ◽  
Elham Makram
Keyword(s):  
Wide Area ◽  
Eigenstructure Assignment ◽  
Wide Area Damping Controller ◽  
Damping Controller

scholarly journals Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media

2021 ◽  
Vol 8 ◽  
Author(s):  
Sonia F. Roberts ◽  
Daniel E. Koditschek
Keyword(s):  
Granular Media ◽  
Energy Savings ◽  
Single Step ◽  
Active Damping ◽  
Energetic Cost ◽  
Direct Drive ◽  
Cost Of Transport ◽  
Physical Experiments ◽  
Physical Energy ◽  
Damping Controller

We discuss an active damping controller to reduce the energetic cost of a single step or jump of dynamic locomotion without changing the morphology of the robot. The active damping controller adds virtual damping to a virtual leg spring created by direct-drive motors through the robot’s leg linkage. The virtual damping added is proportional to the intrusion velocity of the robot’s foot, slowing the foot’s intrusion, and thus the rate at which energy is transferred to and dissipated by the ground. In this work, we use a combination of simulations and physical experiments in a controlled granular media bed with a single-leg robot to show that the active damping controller reduces the cost of transport compared with a naive compression-extension controller under various conditions.

Sign in / Sign up

Export Citation Format

Share Document