Power-based control: Canonical coordinate transformations, integral and adaptive control

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• 作者：Daniel A. Dirksz^a ; ¹ ; ^{d.a.dirksz@tue.nl}  ; [Author Vitae] ; Jacquelien M.A. Scherpen^b ; ^{j.m.a.scherpen@rug.nl}  ; [Author Vitae]
• 关键词：Passivity-based control ; Nonlinear systems ; Nonlinear control ; Integral control ; Adaptive control
• 刊名：Automatica
• 出版年：2012
• 期刊代码：13_00051098
• 类别：cp
• 出版时间：June, 2012
• 卷：48
• 期：6
• 页码：1045-1056
• 文件大小：385 K

摘要

Power-based modeling was originally developed in the early sixties to describe a large class of nonlinear electrical RLC networks, in a special gradient form. Recently this idea has been extended for modeling and control of a larger class of physical systems. In this paper, first, coordinate transformations are introduced for systems described in this framework, such that the physical structure is preserved. Such a transformation can provide new insights for both analysis and control design. Second, power-based integral and adaptive control schemes are presented. Advantages of these schemes are shown by their application on standard mechanical systems.