Port-Hamiltonian and Power-Based Integral Type Control of a Manipulator System
Port-Hamiltonian and Power-Based Integral Type Control of a Manipulator System
复制标题
机械臂系统的港哈密尔顿和基于功率的积分型控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
J. Scherpen
中科院分区：
文献类型：
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作者：
D. A. Dirksz;J. Scherpen
摘要稳态误差通常发生在系统控制算法的实现中，由不确定性和/或建模误差引起。这种误差传统上通过添加简单的积分器来消除。然而，非线性系统的简单积分器通常破坏建模框架的结构。对于无源系统，已经表明无源性失去了它的全局特性。在这里，积分型控制器的标准的非线性机械系统，基于端口哈密顿和基于功率的建模框架。给出了平面机械臂系统的实验结果。
Abstract Steady-state errors usually occur in the implementation of control algorithms on a system, caused by uncertainties and/or modeling errors. Such errors are traditionally eliminated by adding a simple integrator. However, a simple integrator for nonlinear systems usually spoils the structure of the modeling framework. For passive systems it has been shown that passivity loses its global character. Here, integral type controllers are presented for standard nonlinear mechanical systems, based on the port-Hamiltonian and power-based modeling frameworks. Experimental results are given for a planar manipulator system.