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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Very Strictly Passive Gain-Scheduled Controller: Theory and Experiments
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A Very Strictly Passive Gain-Scheduled Controller: Theory and Experiments

机译：一个非常严格的被动增益计划控制器：理论和实验

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摘要

This paper considers gain-scheduled control within a passive systems framework. Inspired by the passivity theorem and linear parameter varying systems theory, a very strictly passive gain-scheduled controller is introduced. The proposed gain-scheduled controller is used in tandem with an actuator saturation prevention technique. The actuator saturation prevention technique does not violate the passive properties of the controller, can account for feedforward control, and can have variable saturation limits. Scheduling signals are bounded and square integrable on finite time intervals. They have no restrictions on their derivatives, can be nonlinear, and can be functions of system states, exogenous signals, or time. The controller is applied to a trajectory tracking problem of a two-link flexible manipulator's heavy payload. The proposed controller is compared to two other gain-scheduling paradigms through experimentation. The theoretical and experimental results of this paper show that the proposed control architecture with a fixed number of integrating states is able to have improved stability properties over a traditional linear parameter varying controller without compromising performance. In addition, the proposed controller is able to asymptotically track a trajectory while avoiding actuator saturation.
机译：本文考虑了被动系统框架内的增益调度控制。受无源定理和线性参数变化系统理论的启发，引入了一种非常严格的无源增益调度控制器。所提出的增益调度控制器与执行器饱和防止技术结合使用。防止执行器饱和的技术不会违反控制器的被动特性，可以解决前馈控制问题，并且可以具有可变的饱和极限。调度信号在有限的时间间隔内是有界且平方可积的。它们对它们的导数没有限制，可以是非线性的，并且可以是系统状态，外源信号或时间的函数。该控制器应用于二连杆柔性机械手的有效载荷的轨迹跟踪问题。通过实验将提出的控制器与其他两个增益调度范例进行了比较。本文的理论和实验结果表明，所提出的具有固定数量积分状态的控制体系结构能够在不影响性能的情况下，具有优于传统线性参数变化控制器的稳定性。另外，所提出的控制器能够渐进地跟踪轨迹，同时避免致动器饱和。

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