Please wait a minute...
IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2019, Vol. 1 Issue (3): 73-80    DOI: 10.1049/iet-csr.2019.0019
    
用于处理端口受控哈密顿系统中匹配和/或不匹配不确定性的鲁棒控制方法
Tahereh Binazadeh1, Mahsa Karimi1, Ali Reza Tavakolpour-Saleh2
1 Department of Electrical and Electronic Engineering , Shiraz University of Technology , Shiraz , Iran 2 epartment of Mechanical and Aerospace Engineering , Shiraz University of Technology , Shiraz , Iran
Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems
Tahereh Binazadeh1, Mahsa Karimi1, Ali Reza Tavakolpour-Saleh2
1 Department of Electrical and Electronic Engineering , Shiraz University of Technology , Shiraz , Iran 2 epartment of Mechanical and Aerospace Engineering , Shiraz University of Technology , Shiraz , Iran
 全文: PDF 
摘要： 本文从两个角度研究了欠驱动机械系统的鲁棒互联和阻尼分配无源控制问题(IDA-PBC)。首先，本研究分析了IDA-PBC在非消失匹配和非匹配不确定性条件下的鲁棒性，得到了保证系统最终有界的充分条件。其次，通过在原有的IDA-PBC控制器基础上增加一个新的控制输入，实现了闭环系统在非消失匹配不确定性下的渐近稳定性。最后，以惯性轮摆和单连杆弹性关节机器人为例，对所提出的鲁棒控制器进行了仿真分析。仿真结果清楚地表明了该鲁棒控制器的有效性。
Abstract: This study considers the problem of robust interconnection and damping assignment passivity-based control approach (IDA-PBC) for underactuated mechanical systems from two points of view. First, the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system. Second, the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC, such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled. Finally, the proposed robust controller is evaluated through simulations of two practical examples, i.e. an inertia wheel pendulum and a single-link elastic joint robot. The simulation outcomes clearly reveal the effectiveness of the presented robust controller.
收稿日期: 2019-04-17 出版日期: 2020-01-13
通讯作者: Tahereh Binazadeh     E-mail: Binazadeh@sutech.ac.ir
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
Tahereh Binazadeh
Mahsa Karimi
Ali Reza Tavakolpour-Saleh

引用本文:

Tahereh Binazadeh, Mahsa Karimi, Ali Reza Tavakolpour-Saleh . Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems. IET Cyber-Systems and Robotics, 2019, 1(3): 73-80.

链接本文:

http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2019.0019    或    http://www.zjujournals.com/iet-csr/CN/Y2019/V1/I3/73

No related articles found!