Robust control of dynamically interacting systems
作者:
J. E. COLGATE,
N. HOGAN,
期刊:
International Journal of Control
(Taylor Available online 1988)
卷期:
Volume 48,
issue 1
页码: 65-88
ISSN:0020-7179
年代: 1988
DOI:10.1080/00207178808906161
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approach to servo design. The need for ‘coupled stability’ and ‘interactive behaviour’ specifications is motivated. A necessary and sufficient condition to ensure the stability of a linear manipulator coupled at a single interaction port to a linear, passive environment is found. It is shown that this condition may be extended to a broad class of active environments, and a simple test for coupled stability, based on the root locus, is presented. Two interaction controller designs for a linear manipulator are presented. Interactive behaviour is analysed in the frequency domain by comparison with the behaviour of a target model. A simple controller shows strong stability properties, but poor behaviour; a more sophisticated design shows that it is possible to achieve desirable behaviour while retaining stability guarantees.
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