Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements
Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements
复制标题
用于无速度测量的机械端口哈密尔顿系统的具有输入饱和的基于无源的滞后补偿器
DOI：
10.1109/lcsys.2020.3032890
复制
发表时间：
2021
影响因子：
3
通讯作者：
I. Maruta
中科院分区：
文献类型：
--
作者：
Kiyoshi Hamada;P. Borja;J. Scherpen;K. Fujimoto;I. Maruta
在这封信中，我们提出了一种基于无源性的控制技术，所得到的控制器可以被解释为滞后补偿器的非线性机械系统中描述的端口-哈密顿框架。所提出的方法考虑了一个动态控制器，使得控制输入和误差信号之间的关系可以用传递函数来表示。因此，可以通过频率分析方法来调谐控制增益。此外，所得到的控制器的两个实际优点是，它们不需要速度测量，并且它们可以科普输入饱和。我们说明了所提出的方法的适用性，通过稳定的平面机械手，实验结果证实了该技术的有效性。
In this letter, we propose a passivity-based control technique, where the resulting controllers can be interpreted as lag-compensators for nonlinear mechanical systems described in the port-Hamiltonian framework. The proposed methodology considers a dynamic controller such that the relationship between the control input and the error signal of interest can be expressed in terms of a transfer function. Accordingly, the control gains can be tuned through a frequency analysis approach. Additionally, two practical advantages of the resulting controllers are that they do not require velocity measurements, and they can cope with input saturation. We illustrate the applicability of the proposed methodology through the stabilization of a planar manipulator, where the experimental results corroborate the effectiveness of the technique.