Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms

Félix A. Miranda-Villatoro; Bernard Brogliato; Fernando Castaños

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Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms

机译：Lagrange系统的多值鲁棒跟踪控制：连续和离散时间算法

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摘要

The robust trajectory tracking of fully actuated Lagrange systems is studied. Exogenous perturbations as well as parameter uncertainties are taken into account. A family of set-valued passivity-based controllers is proposed, including first-order sliding-mode schemes. The existence of solutions and the stability of the closed-loop system are established in continuous time. An implicit discretization approach is proposed and the well posedness and the stability of the closed-loop system are studied. Numerical simulations illustrate the effectiveness of the proposed discrete-time controller.

机译：研究了全驱动拉格朗日系统的鲁棒轨迹跟踪。考虑外源扰动以及参数不确定性。提出了一组基于设定值无源性的控制器，包括一阶滑模方案。连续不断地建立解的存在性和闭环系统的稳定性。提出了一种隐式离散化方法，研究了闭环系统的适定性和稳定性。数值仿真表明了所提出的离散时间控制器的有效性。

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来源
《IEEE Transactions on Automatic Control》 |2017年第9期|4436-4450|共15页
作者
Félix A. Miranda-Villatoro; Bernard Brogliato; Fernando Castaños;
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作者单位

Automatic Control Department, Cinvestav-IPN, Mexico City, Mexico;

INRIA Grenoble Rhône-Alpes, University of Grenoble-Alpes, Inovalleé, Saint-Ismier, France;

Automatic Control Department, Cinvestav-IPN, Mexico City, Mexico;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Closed loop systems; Robustness; Stability analysis; Indexes; Uncertainty; Symmetric matrices;

机译：闭环系统;稳健性;稳定性分析;指标;不确定性;对称矩阵;

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Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms

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