论文标题
一类机械系统的指数稳定性和调整
Exponential Stability and Tuning for a Class of Mechanical Systems
论文作者
论文摘要
在本文中，我们证明了哈米尔顿港框架中代表的一类机械系统的指数稳定性。为此，我们提出了与系统的哈密顿官不同的Lyapunov候选功能。此外，我们研究了如何使用提出的分析来确定某些（非线性）机械系统的指数稳定性和收敛速度，该系统通过两种基于被动的控制技术稳定，即基于PID的控制，基于PID，基于PID的控制，互连和抑制分配。我们实施了以前的控制方法，以在所需的平衡点稳定三个自由的机器人臂，以说明上述分析。
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system. Moreover, we study how the proposed analysis can be used to determine the exponential stability and the rate of convergence of some (nonlinear)-mechanical systems stabilized by two passivity-based control techniques, namely, PID passivity-based control and interconnection and damping assignment. We implement the former control approach to stabilize a three degrees-of-freedom robotic arm at the desired equilibrium point to illustrate the mentioned analysis.
