对于所需的可变阻抗模型的放松状态独立稳定性约束
Zhaobao Yu1, Jianheng Mao1, Liaoxue Liu1
1School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China.
ISA transactions
|March 7, 2026
概括
可变阻抗控制 (VIC) 增强了机器人任务,但时间变化的参数可能会导致不稳定. 本研究为所需的可变阻抗模型 (DVIM) 引入了新的,不那么保守的稳定性约束,以确保在各种条件下系统的稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
- 系统稳定性 系统稳定性
背景情况:
- 可变阻抗控制 (VIC) 对于先进的机器人应用至关重要.
- 在VIC中时间变化的阻抗参数可能导致系统不稳定.
- 现有的稳定性约束通常是保守的,并限制了适用性.
研究的目的:
- 对所需的可变阻抗模型 (DVIM) 进行研究并推导出新的稳定性约束.
- 开发适用于一般阻抗矩阵的不那么保守的约束.
- 在外部力量和错误的存在下确保系统的稳定性和稳健性.
主要方法:
- 在非自主系统中利用一种不变性理论.
- 导出两个放松的独立于状态的全球均指数稳定性 (GUES) 约束.
- 使用输入到状态稳定性 (ISS) 框架.
主要成果:
- 为DVIM提出了两个新的,不那么保守的GUES约束.
- 第一个约束允许非严格的不平等.
- 第二个约束适用于非正确的确定的/可差分的和无限制的刚度变化率.
结论:
- 拟议的约束保证了有限的DVIM状态在有限的外力下.
- 具有这些限制的VIC框架证明了对跟踪和测量错误的稳定性.
- 模拟和实验结果验证了衍生约束的有效性.
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