Passive Feedback Control with Feedforward Compensation for Flexible Structures

用于柔性结构的具有前馈补偿的无源反馈控制

• 批准号: 9113633
• 负责人: John Wen
• 金额: $ 20.21万
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-12-15 至 1995-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9113633&HistoricalAwards=false
• 关键词: Passive; Feedback; Control; Feedforward; Compensation

The inherent passivity property of mechanical systems has long been recognized and exploited for stabilization, and applications of this property appear in several contexts including robot and spacecraft stabilization. The underlying assumption is that every degree of freedom for such systems is directly actuated. However, when this assumption is violated, the passivity property is less useful. Earlier work has demonstrated that under a mild stabilizability and detectability condition, the inherent passivity in a class of under-actuated systems remains very useful in the stabilization of such systems. This project's intent is to further develop this approach. Particular attention will be paid to specific applications to common classes of flexible structures, including flexibly jointed robots, flexible links, serially connected flexible bodies, and rigid bodies with flexible appendages. The theoretical results will be validated on an existing laboratory experimental facility.*** //

机械系统固有的无源性长期以来 已被确认并用于稳定和应用 这种属性出现在几个上下文中，包括机器人和 航天器稳定 基本假设是， 这种系统的每个自由度都是直接致动的。 然而，当这个假设被违反时， 就没那么有用了 早期的研究表明，在温和的 稳定性和可探测性条件，固有的 在一类欠驱动系统的无源性仍然非常 在稳定这些系统中是有用的。 此项目的 目的是进一步发展这一办法。 特别注意 将支付给特定的应用程序，以共同类 柔性结构，包括柔性关节机器人，柔性 连杆、串联柔性体和刚性体， 灵活的附属物。 理论结果将得到验证 现有的实验室设施 * //