Stability guaranteed control: Time domain passivity approach

被引：0
|
作者：
Ryu, JH [1 ]
Kwon, DS [1 ]
Hannaford, B [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Taejon, South Korea
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new, energy-based method is proposed for guaranteeing the stability of large classes of control systems with minimum performance losses. Based on a network presentation, the large classes of control systems are analyzed in a unified framework. In this unified network model, the concept of passivity is used to study the stability of large classes of control systems. For guaranteeing the stability condition, the time-domain passivity controller is extended to a 2-port network to make the controller 2-port passive. The developed method is tested with numerical simulation in the regulation of a single link flexible manipulator Totally stable control is achieved under wide variety of operating condition and uncertainties without any model information.
引用
收藏
页码：2115 / 2121
页数：7
相关论文
共 50 条
  • [1] Stability guaranteed control: Time domain passivity approach
    Ryu, JH
    Kwon, DS
    Hannaford, B
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2004, 12 (06) : 860 - 868
  • [2] Control of a flexible manipulator with noncollocated feedback: Time domain passivity approach
    Ryu, JH
    Kwon, DS
    Hannaford, B
    [J]. CONTROL PROBLEMS IN ROBOTICS, 2003, 4 : 121 - 134
  • [3] Control of a flexible manipulator with noncollocated feedback: Time-domain passivity approach
    Ryu, JH
    Kwon, DS
    Hannaford, B
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (04): : 776 - 780
  • [4] Landing force control for humanoid robot by time-domain passivity approach
    Kim, Yong-Duk
    Lee, Bum-Joo
    Ryu, Jee-Hwan
    Kim, Jong-Hwan
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (06) : 1294 - 1301
  • [5] Stable teleoperation with time domain passivity control
    Ryu, JH
    Kwon, DS
    Hannaford, B
    [J]. 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 3260 - 3265
  • [6] Time domain passivity control of haptic interfaces
    Hannaford, B
    Ryu, JH
    [J]. 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 1863 - 1869
  • [7] Bilateral control with time domain passivity approach under time-varying communication delay
    Ryu, Jee-Hwan
    [J]. 2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3, 2007, : 979 - 984
  • [8] Bivariate macromodeling with guaranteed uniform stability and passivity
    Grivet-Talocia, Stefano
    [J]. 2017 IEEE 26TH CONFERENCE ON ELECTRICAL PERFORMANCE OF ELECTRONIC PACKAGING AND SYSTEMS (EPEPS), 2017,
  • [9] Chattering-Free Time Domain Passivity Approach
    Choi, Hyeonseok
    Balachandran, Ribin
    Ryu, Jee-Hwan
    [J]. IEEE TRANSACTIONS ON HAPTICS, 2022, 15 (03) : 572 - 581
  • [10] Stable Multilateral Teleoperation with Time Domain Passivity Approach
    Ha Van Quang
    Ryu, Jee-Hwan
    [J]. 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 5890 - 5895
12345