欠驱动机械系统的互联与阻尼赋值无源自适应控制:在球梁系统中的应用

IF 2.3 3区 工程技术 Q2 ENGINEERING, MECHANICAL
Actuators Pub Date : 2023-10-31 DOI:10.3390/act12110408
Xiaoping Liu, Huaizhi Shao, Cungen Liu, Ning Li, Xinpeng Guo, Fei Zheng, Lijun Sun
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引用次数: 0

摘要

本文将自适应技术与基于互联和阻尼分配的无源控制方法相结合,解决了不确定(包括匹配和不匹配)欠驱动机械系统的镇定问题。这些不确定性包括未知的摩擦系数和未知的动能和势能项。提出了一种新的基于自适应互联和阻尼分配的无源控制方案,并设计了自适应镇定控制器使闭环系统局部稳定。对球梁系统进行了验证。利用LaSalle不变性原理和近似线性化证明了系统的局部渐近稳定性。通过数值仿真验证了所提控制律的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System
In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle’s invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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