A Passivity-Based Sliding Mode Controller for a Class of Electro-Mechanical Systems
A Passivity-Based Sliding Mode Controller for a Class of Electro-Mechanical Systems
复制标题
一类机电系统的基于无源的滑模控制器
DOI：
10.1109/lcsys.2021.3089541
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发表时间：
2021
影响因子：
3
通讯作者：
Ichiro Maruta
中科院分区：
文献类型：
--
作者：
Kenji Fujimoto;Takahiro Baba;Naoki Sakata;Ichiro Maruta
这封信提出了一种新颖的滑模控制方法，用于使用基于无源性的方法的一类机电系统。对于机械系统，作者提出了一种基于动势能整形方法的无源滑模控制器，该控制器允许获得更广泛的候选李雅普诺夫函数。这封信扩展了这个框架，以应对一类机电系统，并给出了一类新的基于能量的李亚普诺夫函数候选。基于该技术，提出了一种具有基于李亚普诺夫函数的显式能量的新型滑模控制器。它有望为基于无源控制和滑模控制的统一控制设计框架提供新的基础。此外，数值例子证明了该方法的有效性。
This letter proposes a novel sliding mode control method for a class of electro-mechanical systems using passivity based approach. For mechanical systems, the authors proposed a passivity based sliding mode controller based on the kinetic potential energy shaping method which allows one to obtain a wider class of Lyapunov function candidates. This letter extends this framework to cope with a class of electro-mechanical systems and gives a new class of energy based Lyapunov function candidates. Based on this technique, a novel sliding mode controller with an explicit energy based Lyapunov function is proposed. It is expected to provide a new basis for a unified control design framework for both passivity based control and sliding mode control. Furthermore, a numerical example demonstrates the effectiveness of the proposed method.