Virtual Power Limiter System which Guarantees Stability of Control Systems
Virtual Power Limiter System which Guarantees Stability of Control Systems
复制标题
虚拟功率限制器系统保证控制系统的稳定性
DOI：
10.1109/robot.2005.1570308
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
M. Uemura
中科院分区：
文献类型：
--
作者：
K. Kanaoka;M. Uemura
本文提出了一种虚拟功率限制器系统。这不需要建模，并且可以保证控制系统的稳定性，其中包括未知特性：柔性机械手的灵活性，气动伺服系统的可压缩性，人机系统的人的动力学，机电系统的硬件非线性等。介绍了虚拟功率限制器系统的具体设计，并在人机系统上进行了实验验证。
In this paper, a Virtual Power Limiter System is proposed. This requires no modeling and makes it possible to guarantee the stability of control systems which include unknown characteristics: flexibility in flexible manipulators, compressibility in pneumatic servo systems, human dynamics in man-machine systems, hardware nonlinearity in mechatronic systems, and so on. The details of the proposed virtual power limiter system and experimental verification with a man-machine system are presented.