论文标题
机械港口港口系统的基于消极的滑动模式控制
Passivity-based sliding mode control for mechanical port-Hamiltonian systems
论文作者
论文摘要
在这项工作中，我们为机械港口 - 哈米尔顿系统的新的基于被动率的滑动模式控制方法。基于被动率的滑动模式控制（PBSMC）是滑动模式控制和基于被动性控制的统一。它通过采用基于能量的Lyapunov函数，同时实现了滑动模式控制和Lyapunov稳定性。所提出的方法给出了一个稳定控制器的家族，该家族可以通过自由参数平滑地插值基于被动的控制和滑动模式控制。自由对于调整鲁棒性抵抗外部干扰和不想要的颤动振动之间的权衡很有用。此外，本文放松了作者以前结果所需的限制性条件。结果，我们可以将提出的PBSMC方法应用于轨迹跟踪控制问题。此外，研究了提出的控制器对匹配和无与伦比的干扰的鲁棒性。数值示例证明了该方法的有效性。
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy based Lyapunov function. The proposed method gives a family of stabilizing controllers which smoothly interpolates passivity-based control and sliding mode control with free parameters. The freedom is useful to adjust the trade-off between robustness against external disturbances and undesired chattering vibration. In addition, this paper relaxes the restrictive condition which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.
