论文标题
通过基于消极的机械系统的基于被动性控制的死区补偿
Dead-zone compensation via passivity-based control for a class of mechanical systems
论文作者
论文摘要
该手稿介绍了一种基于被动性控制方法，用于具有对称或不对称死区的完全发导的机械系统。为此，我们发现了描述这种非线性的函数的倒数的平滑近似。然后，我们提出了一种基于PI -PBC技术的能量和阻尼注射方法，以补偿死区。此外，我们提供了在平衡附近提出的控制器的性能的分析。我们通过实验验证了两个自由度平面操纵器的结果来结束本文。
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a nonlinearity. Then, we propose an energy and damping injection approach - based on the PI-PBC technique - that compensates for the dead-zone. Moreover, we provide an analysis of the performance of the proposed controller near the equilibrium. We conclude this paper by experimentally validating the results on a two degrees-of-freedom planar manipulator.
