Class of Controller for Manipulator with 2 Flexible-links by IDA-PBC Method
نویسندگان
چکیده
منابع مشابه
A Direct Discrete-time IDA-PBC Design Method for a Class of Underactuated Hamiltonian Systems
In this paper, a direct discrete time design method in the sense of passivity-based control (PBC) is investigated. This method, which is known as interconnection and damping (IDA), deals with the stabilization of under-actuated mechanical systems and, it is based on the modification of both the potential and kinetic energies. In order to give a direct discrete time IDA-PBC design method, the di...
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Zusammenfassung Der Beitrag beschäftigt sich mit der Parametrierung der nichtlinearen Zustandsregelung durch Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). Die Struktur der geregelten Strecke als Port-Hamilton (PH) System ist physikalisch motiviert und beruht auf der Speicherung, dem Austausch und der Dissipation von Energie. Die Wirkung der Entwurfsparameter in den v...
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The general dilemma faced in a conventional linear proportional–integral (PI) controller is to achieve the best transient performance (i.e. fast rise time and low overshoot level) at the same time. However, fast response is usually accompanied by high overshoot level. On the other hand, very stable control without overshoot is usually achieved at the expense of a more sluggish response to set p...
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In this paper, the technique of local linear dynamics assignment is presented, which complements the powerful Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) methodology. In IDA-PBC, nonlinear state feedback controllers are designed by matching the system’s dynamics with a desired Port-Hamiltonian (PH) state representation. The latter consists of an energy function, whi...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2004
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.40.1243