论文标题
对机械系统的基于被动率的控制器进行调整
Tuning of passivity-based controllers for mechanical systems
论文作者
论文摘要
本手稿描述了几种用于调整标准非线性机械系统的基于被动性控制器的参数的方法。特别是，我们对保留闭环机械系统结构的控制器感兴趣。为此，首先，我们提供了稳定的调整规则，即收敛速率（指数稳定性）和稳定余量（输入到国家稳定性）。然后，我们提供指导方针，以在开出上升时间的同时删除过时的指南。此外，我们提出了一种调整陀螺相关参数的方法。我们还提供有关阻尼现象的评论，以促进我们方法的实际实施。我们结束了本文，并通过将调整规则应用于不足的机械构型和完整的机械配置中获得的实验结果。
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system structure in closed-loop. To this end, first, we provide tuning rules for stabilization, i.e., the rate of convergence (exponential stability) and stability margin (input-to-state stability). Then, we provide guidelines to remove the overshoot while prescribing the rise time. Additionally, we propose a methodology to tune the gyroscopic-related parameters. We also provide remarks on the damping phenomena to facilitate the practical implementation of our approaches. We conclude this paper with experimental results obtained from applying our tuning rules to an underactuated and a fully-actuated mechanical configuration.
