Stability guaranteed control: Time domain passivity approach

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A new, energy-based method is proposed for guaranteeing the stability of large classes of control systems with minimum performance losses. Based on a network presentation, the large classes of control systems are analyzed in a unified framework. In this unified network model, the concept of passivity is used to study the stability of large classes of control systems. For guaranteeing the stability condition, the time-domain passivity controller is extended to a 2-port network to make the controller 2-port passive. The developed method is tested with numerical simulation in the regulation of a single link flexible manipulator. Totally stable control is achieved under wide variety of operating condition and uncertainties without any model information.
IEEE Robotics and Automation Society (RAS)
Issue Date

2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2115 - 2121

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CE-Conference Papers(학술회의논문)ME-Conference Papers(학술회의논문)
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