IDA-PBC with adaptive friction compensation for underactuated mechanical systems
IDA-PBC with adaptive friction compensation for underactuated mechanical systems
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DOI：
10.1080/00207179.2019.1622039
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发表时间：
2019-05
影响因子：
2.1
通讯作者：
Enrico Franco
中科院分区：
文献类型：
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作者：
Enrico Franco
研究了在驱动关节和非驱动关节上存在干摩擦的欠驱动机械系统的控制问题。提出了一种新的互连阻尼分配无源性控制（IDA-PBC）设计方法，该方法包括摩擦力的自适应估计和在闭环系统动力学中引入非线性耗散项.其结果是，传统的IDA-PBC补充了一个额外的匹配条件和控制律增加了一个新的术语，占库仑摩擦力的所有关节。两个自适应控制范例被认为是比较的目的和稳定性条件进行了讨论。详细的控制设计的两个示范性的例子：磁盘上的磁盘系统，Acrobot系统。数值仿真结果证明了该设计的有效性。
In this work the control of underactuated mechanical systems with dry friction on actuated and unactuated joints is investigated. A new interconnection-and-damping-assignment passivity-based-control (IDA-PBC) design is presented, which includes the adaptive estimation of the friction forces and the introduction of a nonlinear dissipative term in the closed-loop system dynamics. As a result, the traditional IDA-PBC is complemented with an additional matching condition and the control law is augmented with a new term that accounts for the Coulomb friction forces on all joints. Two adaptive control paradigms are considered for comparison purposes and stability conditions are discussed. The control design is detailed for two demonstrative examples: the disk-on-disk system; the Acrobot system. The effectiveness of the proposed design is demonstrated with numerical simulations.