Passivity monitor and software limiter which guarantee asymptotic stability of robot control systems
Passivity monitor and software limiter which guarantee asymptotic stability of robot control systems
复制标题
保证机器人控制系统渐近稳定性的无源监视器和软件限制器
DOI：
10.1109/robot.2003.1242276
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
K. Kanaoka;T. Yoshikawa
在本文中，我们提出了一个无源性监视器，评估系统的稳定性的基础上的概念的无源性，和一个软件限制器，它把系统稳定，如果它原来是不稳定的。结果表明，渐近稳定性将保证任意机器人与任意控制方案和环境，即使他们的属性是未知的。通过对各种不稳定系统的数值仿真和实验，验证了无源性监视器和软件限制器的有效性。
In this paper, we propose a passivity monitor which evaluates stability of a system based on the concept of passivity, and a software limiter which turns the system stable if it is originally unstable. It is shown that asymptotic stability will be guaranteed for arbitrary robots with arbitrary control schemes and environments, even if their properties are unknown. The validity of the passivity monitor and the software limiter is verified by numerical simulations and experiments performed on various unstable systems.