Tracking and disturbance rejection for fully actuated mechanical systems
Tracking and disturbance rejection for fully actuated mechanical systems
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DOI：
10.1016/j.automatica.2008.03.030
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
B. Jayawardhana;G. Weiss
中科院分区：
文献类型：
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作者：
B. Jayawardhana;G. Weiss
在本文中，我们解决了跟踪和干扰抑制问题的全驱动被动机械系统。我们假设参考信号r和它的前两个导数r现在，r现在可用于控制器，并且干扰信号d可以被分解为任意但已知频率的正弦波和任意L2信号的有限叠加。我们结合联合收割机的内部模型的原则与思想背后的Slotine-Li自适应控制器。我们提出的基于内部模型的自适应控制器使得闭环状态轨迹有界，跟踪误差及其导数收敛到零，而不需要任何先验知识的植物参数。我们的结果的一个重要部分是，我们证明了闭环系统的状态轨迹的存在性和唯一性。
In this paper, we solve the tracking and disturbance rejection problem for fully actuated passive mechanical systems. We assume that the reference signal r and its first two derivatives ṙ,r̈ are available to the controller and the disturbance signal d can be decomposed into a finite superposition of sine waves of arbitrary but known frequencies and an arbitrary L2signal. We combine the internal model principle with the ideas behind the Slotine–Li adaptive controller. The internal model-based adaptive controller that we propose causes the closed-loop state trajectories to be bounded, and the tracking error and its derivative to converge to zero, without any prior knowledge of the plant parameters. An important part of our results is that we prove the existence and uniqueness of the state trajectories of the closed-loop system.