Passivity-Based Tracking Controllers for Mechanical Systems with Active Disturbance Rejection

被引：7

作者：

Romero, Jose Guadalupe ^{[1
]}

Donaire, Alejandro ^{[2
]}

Navarro-Alarcon, David ^{[3
]}

Ramirez, Victor ^{[4
]}

机构：

[1] Lab Informat Robot & Microlect Montpellier, Montpellier, France

[2] Univ Newcastle, Sch Engn, Newcastle, NSW 2300, Australia

[3] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong, Peoples R China

[4] Ctr Invest Cient Yucatan AC, Unidad Energia Renovable, Yucatan, Mexico

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 13期

关键词：

Passivity-based control; Trajectory tracking; Mechanical systems; Robust stabilization; HAMILTONIAN-SYSTEMS;

D O I：

10.1016/j.ifacol.2015.10.226

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The main purpose of this paper is to investigate the robustness of tracking controllers for mechanical systems vis a-vis external disturbances. The controllers designed are obtained by modifying a change of coordinates recently proposed for robust energy shaping controller. This type of change of coordinates allows to assign damping in all the states when the closed loop is written in port Hamiltonian form. This feature simplify the stability analysis by ensure that the Hamiltonian air function is a strict Lyapunov function of the closed loop. Moreover, robustness of the closed loop against external disturbances is ensured. This result, is also extended for mechanical systems interacting with elastic environments and linear deformation. The robust properties are preserved adding terms in the control law via the new change of coordinates. (C) 2015, ILAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：129 / 134

页数：6

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