论文标题
在参数不确定性下，线性系统的输出自适应控制与有限的匹配输入谐波干扰排斥反应
Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection
论文作者
论文摘要
我们考虑使用平行运动学机电设置的运动控制的任务，尤其是在未衡量的外部谐波干扰下稳定球在板上的球。假定系统参数是未知的，只有电阻触摸传感器可以测量球位置。为了解决任务，我们提出了一种新型的基于被动率的输出控制算法，该算法可以针对任意相对程度的不稳定线性化系统实现。与以前的工作相反，我们描述了一种参数化谐波信号发生器和具有有限时间收敛的估计算法的新方法。该方案在控制信号幅度约束下实现快速干扰取消。
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints.
