常匹配和不匹配扰动的位置反馈积分IDA-PBC

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Robust and Nonlinear Control Pub Date : 2025-02-12 DOI:10.1002/rnc.7870

Enrico Franco, Mutaz Ryalat

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引用次数: 0

摘要

这项工作研究了一类欠驱动机械系统的无源控制，这些系统受到恒定的匹配和不匹配干扰，其中动量无法测量。主要贡献是设计了一种仅依赖于位置反馈的基于积分互联和阻尼分配的无源控制。在一个盘对盘系统、一个Acrobot系统和一个具有代表性的软连续体机械臂的刚体模型上进行了数值仿真，验证了该控制器的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Position-Feedback Integral IDA-PBC for Constant Matched and Unmatched Disturbances

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Position-Feedback Integral IDA-PBC for Constant Matched and Unmatched Disturbances

This work investigates the passivity-based control of a class of underactuated mechanical systems subject to constant matched and unmatched disturbances, for which the momenta are not measured. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that only relies on position feedback. Numerical simulations on a disk-on-disk system, on an Acrobot system, and on a rigid-link model representative of a soft continuum manipulator demonstrate the effectiveness of the new controller.

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来源期刊

International Journal of Robust and Nonlinear Control 工程技术-工程：电子与电气

CiteScore

6.70

自引率

20.50%

发文量

505

审稿时长

2.7 months

期刊介绍： Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.