Analysis and synthesis of input strictly passive gain-scheduled controllers

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• 作者：A. Walsh^a ; ^{aexwalsh@umich.edu} ; J.R. Forbes^b ; ^{james.richard.forbes@mcgill.ca}
• 刊名：Journal of the Franklin Institute
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：354
• 期：3
• 页码：1285-1301
• 全文大小：1169 K
• 卷排序：354

文摘

Gain-scheduling within a passive systems framework is considered. A novel input strictly passive gain-scheduled controller is proposed. The scheduling signals, although bounded and square integrable on a finite time interval, are not constrained to be linear, but rather are permitted to be a nonlinear function of external parameters or time. Synthesis of the controller parameters is also considered. In particular, how to include state-feedback or observer gains individually designed about specific set points within the gain-scheduled controller is presented. The number of states associated with the controller is fixed. Adding set points within the scheduling algorithm does not increase the number of controller states numerically integrated online, reducing the computational burden associated with implementation. Although the input strictly passive gain-scheduled controller developed can be used to control any passive plant, the utility of the proposed architecture is highlighted by considering the control of flexible-link robotic manipulators. Numerical simulation results are presented, including a comparison to another passivity-based gain-scheduling algorithm.