Stability Guaranteed Control: Time Domain Passivity Approach

Ryu, Jee-Hwan and Kwon, Dong-Soo and Hannaford, Blake (2002) Stability Guaranteed Control: Time Domain Passivity Approach. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2002).

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Nava Aghdasi
Date Deposited: 12 Aug 2015 20:15
Last Modified: 12 Aug 2015 20:15
URI: http://brl.ee.washington.edu/eprints/id/eprint/243

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