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

共 50 条

[31] Passivity-based control of mechanical systems with linear damping identification
Chan-Zheng, Carmen
Borja, Pablo
Scherpen, Jacquelien M. A.
IFAC PAPERSONLINE, 2021, 54 (19): : 255 - 260
[32] Robust Passivity-Based Control of a Buck-Boost-Converter/DC-Motor System: An Active Disturbance Rejection Approach
Linares-Flores, Jesus
Barahona-Avalos, Jorge L.
Sira-Ramirez, Hebertt
Contreras-Ordaz, Marco A.
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 2012, 48 (06) : 2362 - 2371
[33] Adaptive feedback passivity-based disturbance attenuation for switched nonlinearly parameterized systems
Pang, Hongbo
Zhao, Jun
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2017, 39 (12) : 1811 - 1820
[34] Passivity-based control for hybrid systems with applications to mechanical systems exhibiting impacts
Naldi, Roberto
Sanfelice, Ricardo G.
AUTOMATICA, 2013, 49 (05) : 1104 - 1116
[35] Passivity-based spacecraft attitude control with disturbance suppression
1600, International Frequency Sensor Association, 46 Thorny Vineway, Toronto, ON M2J 4J2, Canada (160):
[36] Robust Tracking of Robot Manipulators via Momentum-based Disturbance Observer and Passivity-based Controller
Juhoon Back
Wonseok Ha
International Journal of Control, Automation and Systems, 2019, 17 : 976 - 985
[37] Robust Tracking of Robot Manipulators via Momentum-based Disturbance Observer and Passivity-based Controller
Back, Juhoon
Ha, Wonseok
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (04) : 976 - 985
[38] Tuning Rules for Passivity-Based Integral Control for a Class of Mechanical Systems
Chan-Zheng, Carmen
Munoz-Arias, Mauricio
Scherpen, Jacquelien M. A.
IEEE CONTROL SYSTEMS LETTERS, 2022, 7 : 37 - 42
[39] Passive Configuration Decomposition and Passivity-Based Control of Nonholonomic Mechanical Systems
Lee, Dongjun
Lui, Kent Yee
IEEE TRANSACTIONS ON ROBOTICS, 2017, 33 (02) : 281 - 297
[40] A nonlinear friction model for the passivity-based control of underactuated mechanical systems
Cornejo, Cecilia
Alvarez-Icaza, Luis
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2007, : 5927 - 5932

← 1 2 3 4 5 →