Stability guaranteed control: Time domain passivity approach

A general framework for expanding the time-domain passivity control approach [12], [24] to large classes of control systems is proposed. We show that large classes of control systems can be described from a network point of view. Based on the network presentation, the large classes of control systems are analyzed in a unified framework. In this unified network model, we define "virtual input energy," which is a virtual source of energy for control, and "real output energy" that is physically transferred to a plant to allow the concept of passivity to be used to study the stability of large classes of control systems. For guaranteeing the stability condition, the time-domain passivity controller for two-port [24] is applied. Design procedure is demonstrated for a motion control system. The developed method is tested with numerical simulation in the regulation of a single link flexible manipulator. Totally stable control is achieved under wide variety of operating condition and uncertainties without any model information.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2004-11
Language
ENG
Keywords

ROBOT MANIPULATORS; FLEXIBLE MANIPULATOR; ROBUST-CONTROL; DESIGN; SYSTEMS

Citation

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.12, no.6, pp.860 - 868

ISSN
1063-6536
DOI
10.1109/TCST.2004.833648
URI
http://hdl.handle.net/10203/1686
Appears in Collection
ME-Journal Papers(저널논문)
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