Macchelli, Alessandro
Overview
Works:  6 works in 23 publications in 1 language and 434 library holdings 

Genres:  Conference papers and proceedings 
Roles:  Editor, Opponent, htt, Other, Author 
Classifications:  QA614.83, 620.0011 
Publication Timeline
.
Most widely held works by
Alessandro Macchelli
Modeling and control of complex physical systems : the portHamiltonian approach by
Vincent Duindam(
)
16 editions published between 2009 and 2014 in English and held by 427 WorldCat member libraries worldwide
"Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in the study of complex multidomain systems, methodologies that explicitly describe the topology of energy exchanges are instrumental in structuring the modeling and the computation of the systems' dynamics and its control. This book is the outcome of the European Project "Geoplex" (FP5 IST200134166) that studied and extended such system modeling and control methodologies. This unique boo starts from the basic concept of portbased modeling, and extends it to portHamiltonian systems. This generic paradigm is applied to various physical domains, showing its power and unifying flexibility for real multidomain systems."Page 4 de la couverture
16 editions published between 2009 and 2014 in English and held by 427 WorldCat member libraries worldwide
"Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in the study of complex multidomain systems, methodologies that explicitly describe the topology of energy exchanges are instrumental in structuring the modeling and the computation of the systems' dynamics and its control. This book is the outcome of the European Project "Geoplex" (FP5 IST200134166) that studied and extended such system modeling and control methodologies. This unique boo starts from the basic concept of portbased modeling, and extends it to portHamiltonian systems. This generic paradigm is applied to various physical domains, showing its power and unifying flexibility for real multidomain systems."Page 4 de la couverture
Modelling and stability analysis of flexible robots : a distributed parameter portHamiltonian approach by
Andrea Mattioni(
)
2 editions published in 2021 in English and held by 2 WorldCat member libraries worldwide
The objective of this thesis is to provide a mathematical framework that allows to explicit the dynamical model of a class of flexible mechanisms, to design their control law and to analyze the resulting closed loop asymptotic behaviour. From a mathematical point of view, the flexible parts are distributed parameter systems whose dynamics are described by Partial Differential Equations (PDE), while the dynamics of the rigid parts are described by Ordinary Differential Equation (ODE). Therefore, the total model is described by a mixed set of ODEPDE (mPDEODE). For studying these dynamic models, this thesis uses the portHamiltonian framework combined with the infinitedimensional semigroup theory.First, we define a rigorous procedure based on the Least Action Principle for deriving the model of mechanisms with possible flexible components, providing several illustrative examples. The general class of nonlinear systems enclosing all the proposed examples is shown to be passive with respect to its mechanical energy. In this class of systems, the distributed parameter parts are modelled as one dimensional boundary control systems.Second, we restrict ourselves to a linear class of mODEPDE systems for which we propose different control laws. We show that the proposed control laws allow achieving asymptotic or exponential stability.Finally, a rotating arm that enters in contact with the external environment is studied in case the link is considered as being both rigid or flexible. Since this system exhibits instant changes in the impact times, we study this problem with the help of switching theory applied to infinite dimensional systems
2 editions published in 2021 in English and held by 2 WorldCat member libraries worldwide
The objective of this thesis is to provide a mathematical framework that allows to explicit the dynamical model of a class of flexible mechanisms, to design their control law and to analyze the resulting closed loop asymptotic behaviour. From a mathematical point of view, the flexible parts are distributed parameter systems whose dynamics are described by Partial Differential Equations (PDE), while the dynamics of the rigid parts are described by Ordinary Differential Equation (ODE). Therefore, the total model is described by a mixed set of ODEPDE (mPDEODE). For studying these dynamic models, this thesis uses the portHamiltonian framework combined with the infinitedimensional semigroup theory.First, we define a rigorous procedure based on the Least Action Principle for deriving the model of mechanisms with possible flexible components, providing several illustrative examples. The general class of nonlinear systems enclosing all the proposed examples is shown to be passive with respect to its mechanical energy. In this class of systems, the distributed parameter parts are modelled as one dimensional boundary control systems.Second, we restrict ourselves to a linear class of mODEPDE systems for which we propose different control laws. We show that the proposed control laws allow achieving asymptotic or exponential stability.Finally, a rotating arm that enters in contact with the external environment is studied in case the link is considered as being both rigid or flexible. Since this system exhibits instant changes in the impact times, we study this problem with the help of switching theory applied to infinite dimensional systems
Synthèse de lois de commande à base d'observateurs pour les systèmes à paramètres distribués : une approche Hamiltonienne
à ports by
Jesús Pablo Toledo Zucco(
)
2 editions published in 2021 in English and held by 2 WorldCat member libraries worldwide
The portHamiltonian approach has shown to be well suited for the modelling and control of distributed parameter systems (DPSs). Some examples of this class of systems are the waves, beams, open channels, fluid motion, piezoelectric structures, and chemical reactors. In this thesis, we have provided some tools for the design of observerbased state feedback (OBSF) controllers for a class of DPSs. The class of DPSs studied in this thesis is the class of boundary controlled portHamiltonian systems (BCPHSs). These are systems described by partial differential equations with actuators and sensors located at the spatial boundaries. For the synthesis, we have used two approaches: the earlylumping and the latelumping approach. For the early lumping approach, we have proposed two methods to design the OBSF gains. In both, we combine classical control tools as the linear quadratic regulator or pole placement with the portHamiltonian approach to guarantee the closedloop stability when applying the OBSF controller to the BCPHS. For the latelumping approach, we have proposed infinitedimensional observers for BCPHSs subject to different types of measurements. Depending on the case, the observer convergence is guaranteed to be asymptotic or exponential. Finally, some first steps toward the observerbased damping injection and energy shaping have been studied using the vibrating string as an example
2 editions published in 2021 in English and held by 2 WorldCat member libraries worldwide
The portHamiltonian approach has shown to be well suited for the modelling and control of distributed parameter systems (DPSs). Some examples of this class of systems are the waves, beams, open channels, fluid motion, piezoelectric structures, and chemical reactors. In this thesis, we have provided some tools for the design of observerbased state feedback (OBSF) controllers for a class of DPSs. The class of DPSs studied in this thesis is the class of boundary controlled portHamiltonian systems (BCPHSs). These are systems described by partial differential equations with actuators and sensors located at the spatial boundaries. For the synthesis, we have used two approaches: the earlylumping and the latelumping approach. For the early lumping approach, we have proposed two methods to design the OBSF gains. In both, we combine classical control tools as the linear quadratic regulator or pole placement with the portHamiltonian approach to guarantee the closedloop stability when applying the OBSF controller to the BCPHS. For the latelumping approach, we have proposed infinitedimensional observers for BCPHSs subject to different types of measurements. Depending on the case, the observer convergence is guaranteed to be asymptotic or exponential. Finally, some first steps toward the observerbased damping injection and energy shaping have been studied using the vibrating string as an example
Port Hamiltonian Formulation of Infinite Dimensional Systems II. Boundary Control by Interconnection by
Alessandro Macchelli(
)
1 edition published in 2004 in English and held by 1 WorldCat member library worldwide
In this paper, some new results concerning the boundary control of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system has been generalized to the distributed parameter and multivariable case by extending the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables. Consequently, it seem natural that also finite dimensional control methodologies developed for finite dimensional port Hamiltonian systems can be extended in order to cope with infinite dimensional systems. In this paper, the control by interconnection and energy shaping methodology is applied to the stabilization problem of a distributed parameter system by means of a finite dimensional controller. The key point is the generalization of the definition of Casimir function to the hybrid case, that is the dynamical system to be considered results from the power conserving interconnection of an infinite and a finite dimensional part. A simple application concerning the stabilization of the onedimensional heat equation is presented
1 edition published in 2004 in English and held by 1 WorldCat member library worldwide
In this paper, some new results concerning the boundary control of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system has been generalized to the distributed parameter and multivariable case by extending the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables. Consequently, it seem natural that also finite dimensional control methodologies developed for finite dimensional port Hamiltonian systems can be extended in order to cope with infinite dimensional systems. In this paper, the control by interconnection and energy shaping methodology is applied to the stabilization problem of a distributed parameter system by means of a finite dimensional controller. The key point is the generalization of the definition of Casimir function to the hybrid case, that is the dynamical system to be considered results from the power conserving interconnection of an infinite and a finite dimensional part. A simple application concerning the stabilization of the onedimensional heat equation is presented
Port Hamiltonian systems : a unified approach for modeling and control finite and infinite dimensional physical systems :
ph. d. thesis by
Alessandro Macchelli(
Book
)
1 edition published in 2002 in English and held by 1 WorldCat member library worldwide
1 edition published in 2002 in English and held by 1 WorldCat member library worldwide
Modélisation et commande d'interaction fluidestructure sous forme de système Hamiltonien à ports : Application au ballottement
dans un réservoir en mouvement couplé à une structure flexible by
Flávio Luiz CardosoRibeiro(
)
1 edition published in 2016 in English and held by 1 WorldCat member library worldwide
This thesis is motivated by an aeronautical issue: the fuel sloshing in tanksof very flexible wings. The vibrations due to these coupled phenomena can lead to problemslike reduced passenger comfort and maneuverability, and even unstable behavior. Thisthesis aims at developing new models of fluidstructure interaction based on the theory ofportHamiltonian systems (pHs). The pHs formalism provides a unified framework for thedescription of complex multiphysics systems and a modular approach for the coupling ofsubsystems thanks to interconnection ports. Furthermore, the design of controllers using pHsmodels is also addressed. PHs models are proposed for the equations of liquid sloshing based on 1D and 2D SaintVenant equations and for the equations of structural dynamics. The originality of the workis to give pHs models of sloshing in moving containers. The interconnection ports are used tocouple the sloshing dynamics to the structural dynamics of a beam controlled by piezoelectricactuators. After writing the partial differential equations of the coupled system using thepHs formalism, a finitedimensional approximation is obtained by using a geometric pseudospectralmethod that preserves the pHs structure of the infinitedimensional model at thediscrete level. The thesis proposes several extensions of the geometric pseudospectral method,allowing the discretization of systems with secondorder differential operators and with anunbounded input operator. Experimental tests on a structure made of a beam connected to atank were carried out to validate both the pHs model of liquid sloshing in moving containersand the pseudospectral semidiscretization method. The pHs model was finally used to designa passivitybased controller for reducing the vibrations of the coupled system
1 edition published in 2016 in English and held by 1 WorldCat member library worldwide
This thesis is motivated by an aeronautical issue: the fuel sloshing in tanksof very flexible wings. The vibrations due to these coupled phenomena can lead to problemslike reduced passenger comfort and maneuverability, and even unstable behavior. Thisthesis aims at developing new models of fluidstructure interaction based on the theory ofportHamiltonian systems (pHs). The pHs formalism provides a unified framework for thedescription of complex multiphysics systems and a modular approach for the coupling ofsubsystems thanks to interconnection ports. Furthermore, the design of controllers using pHsmodels is also addressed. PHs models are proposed for the equations of liquid sloshing based on 1D and 2D SaintVenant equations and for the equations of structural dynamics. The originality of the workis to give pHs models of sloshing in moving containers. The interconnection ports are used tocouple the sloshing dynamics to the structural dynamics of a beam controlled by piezoelectricactuators. After writing the partial differential equations of the coupled system using thepHs formalism, a finitedimensional approximation is obtained by using a geometric pseudospectralmethod that preserves the pHs structure of the infinitedimensional model at thediscrete level. The thesis proposes several extensions of the geometric pseudospectral method,allowing the discretization of systems with secondorder differential operators and with anunbounded input operator. Experimental tests on a structure made of a beam connected to atank were carried out to validate both the pHs model of liquid sloshing in moving containersand the pseudospectral semidiscretization method. The pHs model was finally used to designa passivitybased controller for reducing the vibrations of the coupled system
Audience Level
0 

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General  Special 
Related Identities
 Duindam, Vincent 1977 Author Editor
 Stramigioli, Stefano 1968 Editor
 Bruyninckx, Herman Editor
 École doctorale Sciences pour l'ingénieur et microtechniques (Besançon / Dijon) (Belfort) Other
 Le Gorrec, Yann Opponent Thesis advisor
 Université Bourgogne FrancheComté Degree grantor
 Maschke, Bernhard Other Opponent
 Guo, BaoZhu (1962....). Opponent
 Zwart, Hans J. Other Opponent
 SpringerLink (Online service)