دورية أكاديمية
Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems
| العنوان: | Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems |
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| المؤلفون: | Tahereh Binazadeh, Mahsa Karimi, Ali Reza Tavakolpour-Saleh |
| المصدر: | IET Cyber-systems and Robotics (2019) |
| بيانات النشر: | Wiley, 2019. |
| سنة النشر: | 2019 |
| المجموعة: | LCC:Cybernetics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | nonlinear control systems, stability, uncertain systems, pendulums, control system synthesis, closed loop systems, robust control, damping, asymptotic stability, unmatched uncertainties, port-controlled hamiltonian systems, robust interconnection, damping assignment passivity-based control approach, ida-pbc, underactuated mechanical systems, robust control design, control input, closed-loop system, matched uncertainties, presented robust controller, robust control approach, Cybernetics, Q300-390, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | This study considers the problem of robust interconnection and damping assignment passivity-based control approach (IDA-PBC) for underactuated mechanical systems from two points of view. First, the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system. Second, the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC, such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled. Finally, the proposed robust controller is evaluated through simulations of two practical examples, i.e. an inertia wheel pendulum and a single-link elastic joint robot. The simulation outcomes clearly reveal the effectiveness of the presented robust controller. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2631-6315 |
| العلاقة: | https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0019Test; https://doaj.org/toc/2631-6315Test |
| DOI: | 10.1049/iet-csr.2019.0019 |
| الوصول الحر: | https://doaj.org/article/779bebfe99c844378c3c2a7166317669Test |
| رقم الانضمام: | edsdoj.779bebfe99c844378c3c2a7166317669 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 26316315 |
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| DOI: | 10.1049/iet-csr.2019.0019 |