Input Constrained Positioning Control for a Class of Euler-Lagrange Systems with Discontinuities
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概要
- 論文の詳細を見る
In this paper, a nonlinear positioning control scheme is proposed for a class of Euler-Lagrange systems acted by static friction. A compromise method of the constrained control input and the high accuracy position servo requirement is introduced to construct a PD -like controller. Based on the Filippov-framework, its proved that the equilibrium point set of the closed-loop system is equal to the static solution set, which gives the maximum range of the state-steady servo error. By using the generalized Lyapunov method and Laselles invariant principle, we prove that any trajectory of the closed-loop system will converge to the stationary set. Moveover, unlike the high gain feedback, the PD -like controller can regulate its feedback gain with respect to the servo error such that it is also available for the input constrained case. Finally, to demonstrate the proposed controller, some simulation results are presented.
- 社団法人 電気学会の論文
- 2008-03-01
著者
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Yao Yu
Simulation And Control Center Dept. Of Control Science And Engineering Harbin Institute Of Technolog
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Zheng Kai
Simulation And Control Center Dept. Of Control Science And Engineering Harbin Institute Of Technolog
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SHEN Tielong
Department of Mechanical Engineering, Sophia University
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Shen Tielong
Department Of Applied Science And Engineering Sophia University
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