ROBUST-CONTROL OF DYNAMICALLY INTERACTING SYSTEMS
ROBUST-CONTROL OF DYNAMICALLY INTERACTING SYSTEMS
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DOI：
10.1080/00207178808906161
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发表时间：
1988-07-01
影响因子：
2.1
通讯作者：
HOGAN, N
中科院分区：
文献类型：
--
作者：
COLGATE, JE;HOGAN, N
与环境的动态相互作用是操纵过程的基础。本文描述了一种“交互控制器”的设计方法，并将其与伺服设计方法进行了对比。对“耦合稳定性”和“交互行为”规范的需求被激发了。给出了保证线性机械臂在单个交互作用端口耦合到线性被动环境中稳定的充要条件。结果表明，这一条件可以推广到更广泛的活动环境中，并给出了一种基于根轨迹的耦合稳定性的简单判定方法。给出了两种线性机械臂交互控制器的设计方法。通过与目标模型的行为进行比较，在频域中分析交互行为。简单的控制器表现出很强的稳定性，但性能较差；更复杂的设计表明，在保持稳定性保证的同时，有可能实现理想的性能。
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approach to servo design. The need for ‘coupled stability’ and ‘interactive behaviour’ specifications is motivated. A necessary and sufficient condition to ensure the stability of a linear manipulator coupled at a single interaction port to a linear, passive environment is found. It is shown that this condition may be extended to a broad class of active environments, and a simple test for coupled stability, based on the root locus, is presented. Two interaction controller designs for a linear manipulator are presented. Interactive behaviour is analysed in the frequency domain by comparison with the behaviour of a target model. A simple controller shows strong stability properties, but poor behaviour; a more sophisticated design shows that it is possible to achieve desirable behaviour while retaining stability guarantees.