Integral passivity-based control of underactuated mechanical systems with state-dependent matched disturbances
Integral passivity-based control of underactuated mechanical systems with state-dependent matched disturbances
复制标题
具有状态相关匹配扰动的欠驱动机械系统的基于积分无源的控制
DOI：
10.1002/rnc.7151
复制
发表时间：
2023
影响因子：
3.9
通讯作者：
Franco E
中科院分区：
文献类型：
--
作者：
Franco E
研究了一类受状态依赖线性参数化匹配干扰的欠驱动机械系统的能量成形控制问题。为此，提出了一种新的基于整体互连和阻尼分配无源性的设计。控制器的设计是为系统的动量依赖的干扰或位置依赖的干扰或两者同时。通过对三个实例的数值仿真，证明了所提出方法的有效性：具有非线性摩擦的Acrobot系统;具有恒定和位置相关扰动的球-梁系统;具有完整状态相关扰动集的盘-盘系统.在所有的例子中，所提出的控制器表现出更好的性能相比，以前的实现。
This work investigates the energy shaping control of a class of underactuated mechanical systems subject to state‐dependent linearly parameterized matched disturbances. To this end, a new integral interconnection and damping‐assignment passivity‐based design is proposed. The controller design is developed for systems subject to either momenta‐dependent disturbances or position‐dependent disturbances or to both simultaneously. The effectiveness of the proposed approach is demonstrated with numerical simulations on three examples: an Acrobot system with nonlinear friction; a ball‐on‐beam system with constant and position‐dependent disturbances; a disk‐on‐disk system with a complete set of state‐dependent disturbances. In all examples, the proposed controller shows better performance compared to previous implementations.