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首页> 外文期刊>International Journal of Advanced Robotic Systems >Reconfigurable Controller Design in Descriptor Systems Obtained from Second Order Dynamic Systems via State Feedback Eigenstructure Assignment
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Reconfigurable Controller Design in Descriptor Systems Obtained from Second Order Dynamic Systems via State Feedback Eigenstructure Assignment

机译：通过状态反馈特征结构分配从二阶动态系统获得的描述符系统中的可重配置控制器设计

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摘要

this paper proposes a new method for designing a reconfigurable controller for descriptor systems which is obtained from the second order dynamics of a robot control situation. Using mathematical tools the equations of robot control situation have been translated to descriptor systems, thus, after this change the controller has been designed for control performances. The proposed reconfigurable controller can recover the nominal closed-loop performances after fault occurrence in the system. The dynamics of descriptor systems contain infinite and finite elements, so a complete response of descriptor systems can be represented by an eigenstructure which involves finite and infinite elements. In this paper eigenstructure assignment is used to design a reconfigurable controller in general such that the reconfigured system can recover the complete response of a nominal system as much as possible. Finally, an example represents the effectiveness of the new method.
机译：本文提出了一种新的方法来设计描述符系统的可重配置控制器，该方法是从机器人控制情况的二阶动力学获得的。使用数学工具将机器人控制情况的方程式转换为描述符系统，因此，在更改之后，已针对控制性能设计了控制器。所提出的可重构控制器可以在系统中发生故障后恢复标称闭环性能。描述符系统的动力学包含无限和有限元素，因此描述符系统的完整响应可以由包含有限和无限元素的本征结构表示。在本文中，本征结构分配通常用于设计可重配置的控制器，以使重配置的系统可以尽可能地恢复标称系统的完整响应。最后，一个例子代表了新方法的有效性。

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