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[163] Citation: Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Stability Guaranteed Control: Time Domain Passivity Approach,'
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2002), pp. 2115-2121, Laussane, Switzerland, 2002.
Abstract
A new, energy-based method is proposed for guaranteeing the stability of
large classes of control systems with minimum performance losses. Based on a network presentation, the
large classes of control systems are analyzed in a unified framework. In this unified network
model, the concept of passivity is used to study the stability of large classes of control systems.
For guaranteeing the stability condition, the time-domain passivity controller is extended to a
2-port network to make the controller 2-port passive. The developed method istested with
numerical simulation in the regulation of a single link flexible manipulator. Totally stable control
is achieved under wide variety of operating condition and uncertainties without any model
information.
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Updated: Tue Jul 15 23:54:51 2008
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