Tuning of dynamic feedback control for nonlinear mechanical systems
Tuning of dynamic feedback control for nonlinear mechanical systems
复制标题
非线性机械系统动态反馈控制的整定
DOI：
10.23919/ecc.2013.6669346
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
J. Scherpen
中科院分区：
文献类型：
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作者：
D. A. Dirksz;J. Scherpen
机械系统通常只配备位置测量编码器，并通过微分获得速度信号。然而，差异化在很大程度上放大了噪音。在本文中，我们看看动态反馈控制的欧拉-拉格朗日机械系统。动态反馈通常用于避免控制反馈中的速度测量。在欧拉-拉格朗日文献中，它表明，动态扩展实现了一个近似微分器，证明其应用。本文证明了欧拉-拉格朗日文献中使用的动态扩展实际上实现了一个超前补偿器，证明了超前补偿器也可以全局渐近稳定非线性机械系统。此外，基于超前补偿器结构，然后可以提供频率方法来调谐控制器增益。
Mechanical systems are often only equipped with position measurement encoders and obtain the velocity signal by differentiation. However, differentiation largely amplifies noise. In this paper we look at dynamic feedback control of Euler-Lagrange mechanical systems. Dynamic feedback is often used to avoid velocity measurements in the control feedback. In the Euler-Lagrange literature it is shown that the dynamic extension realizes an approximate differentiator, justifying its application. We show in this paper that the dynamic extension used in the Euler-Lagrange literature actually realizes a lead-compensator, proving that a lead-compensator can also globally asymptotically stabilize a nonlinear mechanical systems. Furthermore, based on the lead-compensator structure it is then possible to offer a frequency approach to tune the controller gains.