Energy-balancing passivity-based control
Energy-balancing passivity-based control
复制标题
基于能量平衡的无源控制
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
I. Mareels
中科院分区：
文献类型：
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作者：
R. Ortega;I. Mareels
Ortega等人已经定义了一类Hamilton系统，使得基于无源性的控制（PBC）的应用产生等于存储的能量和供应的能量之间的差的闭环能量。我们称这种特殊的PBC能量平衡（EB）。我们展示了如何EB-PBC可以扩展到一般的非线性无源系统。此外，我们确定的物理障碍，阻碍了利用EB-PBC在机械系统以外的应用。特别是，我们表明，EB-PBC是阻碍了无界能量耗散的存在。
Ortega et al. have defined a class of Hamiltonian systems such that the application of passivity-based control (PBC) yields a closed-loop energy which is equal to the difference between the stored and the supplied energies. We call this special class of PBC energy-balancing (EB). We show how EB-PBC can be extended to general nonlinear passive systems. Further we identify the physical obstacle that hampers the utilization of EB-PBC in applications other than mechanical systems. In particular, we show that EB-PBC is stymied by the presence of unbounded energy dissipation.