论文标题
调整一类机械系统的基于被动性的积分控制规则
Tuning rules for passivity-based integral control for a class of mechanical systems
论文作者
论文摘要
该手稿引入了一种基于被动率的整体控制方法，用于完全驱动的机械系统。我们方法论的新颖性是，即使在存在匹配的干扰的情况下，我们也利用机械系统的陀螺力将机械系统稳定在所需的平衡处。此外，我们表明我们的方法与无与伦比的骚乱具有强大的态度。此外，我们提供调整规则以规定闭环系统的性能。我们以从机器人臂获得的实验结果结束了这一手稿。
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the mechanical system at the desired equilibrium even in the presence of matched disturbances; additionally, we show that our approach is robust against unmatched disturbances. Furthermore, we provide tuning rules to prescribe the performance of the closed-loop system. We conclude this manuscript with experimental results obtained from a robotic arm.
