Input Constrained Positioning Control for a Class of Euler-Lagrange Systems with Discontinuities

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著者

    • Zheng Kai ZHENG Kai
    • Simulation and Control Center, Dept. of Control Science and Engineering, Harbin Institute of Technology
    • Yao Yu YAO Yu
    • Simulation and Control Center, Dept. of Control Science and Engineering, Harbin Institute of Technology

抄録

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 <i>PD</i> -like controller. Based on the Filippov-framework, it's 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 Laselle's 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 <i>PD</i> -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.

収録刊行物

  • 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society  

    電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 128(3), 493-498, 2008-03-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021131873
  • NII書誌ID(NCID)
    AN10065950
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    03854221
  • NDL 記事登録ID
    9401231
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-795
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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