具有未测量驱动器动力学和时变匹配扰动的欠驱动机械系统的积分IDA-PBC

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control Pub Date : 2025-06-30 DOI:10.1016/j.ejcon.2025.101256

Enrico Franco , Kaiwen Chen

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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，这些系统具有不可测量的执行器状态，并且受到时变状态相关的匹配干扰。主要贡献是一种基于整体互联和阻尼分配的无源控制的新设计，该控制包括与状态相关的阻尼分配，并采用动态扩展来抑制干扰和估计执行器的状态。提供了保证稳定性的控制器参数的调谐指南。对惯性轮摆、球梁系统和机器人系统进行了数值仿真，验证了该控制器的有效性。

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Integral IDA-PBC for underactuated mechanical systems with unmeasured actuator dynamics and time-varying matched disturbances

This work investigates the passivity-based control of a class of underactuated mechanical systems with unmeasured actuator states and subject to time-varying state-dependent matched disturbances. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that includes a state-dependent damping assignment and that employs a dynamic extension to reject the disturbances and to estimate the actuator states. Tuning guidelines for the controller parameters that guarantee the stability properties are provided. Numerical simulations on an inertia-wheel pendulum, a ball-on-beam system, and an Acrobot system demonstrate the effectiveness of the new controller.

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来源期刊

European Journal of Control 工程技术-自动化与控制系统

CiteScore

5.80

自引率

5.90%

发文量

131

审稿时长

1 months

期刊介绍： The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field. The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering. The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications. Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results. The design and implementation of a successful control system requires the use of a range of techniques: Modelling Robustness Analysis Identification Optimization Control Law Design Numerical analysis Fault Detection, and so on.