Passivity-based switching control of flexible-joint complementarity mechanical systems
نویسندگان
چکیده
منابع مشابه
Wave-based control of flexible mechanical systems
here are many contexts, from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to robots, in which it is desired to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system. The system’s actuator must then attempt to reconcile two, potentially conflicting, demands: position control and ac...
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In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity based analysis...
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Zusammenfassung Es wird eine konstruktive Reglerentwurfsmethode für schaltende nichtlineare steuerungssaffine Systeme vorgestellt, die dem geschlossenen Regelkreis eine schaltende Port-Hamiltonsche Struktur mit gemeinsamer Energiefunktion zuweist und so (asymptotische) Stabilität der Ruhelage erzielt. Die Methode generiert alle schaltenden Zustandsrückführungen, welche die Strecke unter beliebi...
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The traditional strengths of passive theory can be further extended when applied to switched systems. Some background will be covered on this recent generalization of passivity using multiple storage functions. The passivity-based control application considered in this paper is in distributed systems. A constructive method is covered to solve the output synchronization problem for networked mec...
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ژورنال
عنوان ژورنال: Automatica
سال: 2010
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2009.10.023