P·SPR·D Control and P·I·SPR·D Control for Affine Nonlinear Systems
نویسنده
چکیده
This paper is concerned with set-point sevo problems by P·SPR·D control and P·I·SPR·D control of affine nonlinear system which is of multi input and multi output. P·SPR·D control consists of proportional (P) action + strict positive real (SPR) action + derivative (D) action. Such control can asymptotically stabilize the affine nonlinear system being passive. Stability analysis of P·SPR·D control and P·I·SPR·D control is made, based on the passivity theory and LaSalle’s invariance principle. The effectiveness of the proposed method is demonstrated by the simulation results for an elastic joint robot arm and TORA model.
منابع مشابه
P*SPR*D control for affine nonlinear system and robot manipulators -Stability analysis based on K-Y-P property and LaSalle's invariance principle-
This paper is concerned with P·SPR·D control of affine nonlinear system and robot manipulators which are passive systems. P·SPR·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Stability analysis of the P·SPR·D control is made, based...
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