Control of elastic systems via passivity-based methods

被引：10

作者：

Kelkar, AG ^{[1
]}

Joshi, SM

机构：

[1] Iowa State Univ Sci & Technol, Dept Mech Engn, Ames, IA 50011 USA

[2] NASA, Langley Res Ctr, Hampton, VA 23681 USA

来源：

JOURNAL OF VIBRATION AND CONTROL | 2004年 / 10卷 / 11期

关键词：

vibration control; elastic systems; passivity; robust control; dissipative systems;

D O I：

10.1177/1077546304042066

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

In this paper we present a controller synthesis approach for elastic systems based on the mathematical concept of passivity. For nonlinear and linear elastic systems that are inherently passive, robust control laws are presented that guarantee stability. Examples of such systems include flexible structures with collocated and compatible actuators and sensors, and multibody space-based robotic manipulators. For linear elastic systems that are not inherently passive, methods are presented for rendering them passive by compensation. The "passified" systems can then be robustly controlled by a class of passive linear controllers that guarantee stability despite uncertainties and inaccuracies in the mathematical models. The controller synthesis approach is demonstrated by application to five different types of elastic systems.

引用

页码：1699 / 1735

页数：37

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