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首页> 外文期刊>IEEE Transactions on Automatic Control >Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing
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Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing

机译：基于Lyapunov /被动性的相对度二MIMO系统的自适应控制及其在视觉伺服中的应用

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摘要

This note presents a Lyapunov-based design of model-reference adaptive control (MRAC) for multiple-input-multiple-output (MIMO) systems of uniform relative degree two. It consists of an extension of a well known MRAC Lyapunov-based scheme for single-input-single-output (SISO) plants with relative degree one or two. The case of relative degree one, was completely extended to the MIMO case only recently. The corresponding extension of the relative degree two case remained hitherto unpublished. While MIMO MRAC schemes exist which can deal with arbitrary relative degree, the one presented here has the significant advantage of possessing an explicit Lyapunov function which easily leads to a stability and error convergence proof. It can also be regarded as a passivity-based approach. As a result, it becomes easier to guarantee stability when connecting such adaptive system to other adaptive control systems with similar passivity properties, e.g., in adaptive visual servoing of robot manipulators
机译：本说明介绍了基于Lyapunov的模型参考自适应控制（MRAC）的设计，该模型参考自适应控制（MRAC）用于统一相对二阶的多输入多输出（MIMO）系统。它由对基于MRAC Lyapunov的，相对等级为一或二的单输入单输出（SISO）工厂的方案的扩展组成。相对程度为1的情况直到最近才完全扩展到MIMO情况。迄今尚未公布相对二度案件的相应扩展。尽管存在可以处理任意相对程度的MIMO MRAC方案，但这里提出的方案具有显着的优点，即具有显式的Lyapunov函数，该函数容易导致稳定性和错误收敛性。它也可以被视为基于被动性的方法。结果，例如在机器人操纵器的自适应视觉伺服中，当将这种自适应系统连接到具有类似被动性的其他自适应控制系统时，变得更容易保证稳定性。

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