Passivity-Based Control

A. Loría, H. Nijmeijer
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引用次数: 7

Abstract

Passivity is a fundamental property of many physical systems which may be roughly defined in terms of energy dissipation and transformation. It is an inherent Input-Ouput property in the sense that it quantifies and qualifies the energy balance of a system when stimulated by external inputs to generate some output. Passivity is therefore related to the property of stability in an input-output sense, that is, we say that the system is stable if bounded ``input energy'' supplied to the system, yields bounded output energy. This is in contrast to Lyapunov stability which concerns the internal stability of a system, that is, how ``far'' the state of a system is from a desired value. In other words, how differently a system behaves with respect to a desired performance. Passivity based control is a methodology which consists in controlling a system with the aim at making the closed loop system, passive. The field constitutes an active research direction and therefore in this article we give only a basic overlook of the most important concepts involved. A section is also devoted to a wide class of physical passive systems: the Euler-Lagrange (EL) systems and their passivity-based control. We do not claim any originality on the contents of this article. The reader should rather consider it as very concise image of the material cited in the Bibliography. Therefore, we invite the reader who wishes to obtain a deeper knowledge in the subject, to see those references.
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Passivity-Based控制
无源性是许多物理系统的基本性质,可以用能量耗散和转换来粗略地定义。它是一种固有的输入-输出属性,在某种意义上,它量化和限定了系统在外部输入刺激下产生某种输出时的能量平衡。因此,无源性与输入输出意义上的稳定性有关,也就是说,如果提供给系统的有界输入能量产生有界输出能量,我们说系统是稳定的。这与李亚普诺夫稳定性相反,李亚普诺夫稳定性关注的是系统的内部稳定性,也就是说,系统的状态离期望值有多“远”。换句话说,系统的行为与期望的性能有多大不同。无源控制是一种控制系统的方法,其目的是使闭环系统成为无源系统。该领域构成了一个活跃的研究方向,因此在本文中,我们只给出了一个基本的忽略了最重要的概念。一节还专门介绍了一类广泛的物理被动系统:欧拉-拉格朗日(EL)系统及其基于被动的控制。我们不主张这篇文章的内容有任何独创性。读者应该把它看作参考书目中引用的材料的非常简明的图像。因此,我们邀请希望在这方面获得更深入知识的读者参阅这些参考资料。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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Index Appendix B: Supervisory Control Synergistic Control Invariants and Invariance-Based Control
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