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Robust Synchronization of Arrays of Lagrangian Systems
David Rosas,Joaquin Alvarez,Daniel Hernandez,Ervin Alvarez 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.5
A new technique to synchronize arrays of uncertain, disturbed Lagrangian systems, where the synchro-nization signals use only the position measurement, is proposed. The technique, robust with respect to some kinds of connection losses and matched disturbances, can be applied to different topologies whose connection matrix is not necessarily symmetric. The design of the coupling signals is based on a discontinuous robust observer that identifies, at the same time, the velocity vector and any matched disturbance containing unknown terms, parameter uncertainty, or unknown external perturbations. This estimated disturbance is incorporated in the coupling signal to compensate the real perturbations, improving significantly the synchronization performance. The technique is illustrated with numerical simulations and some experiments carried on some real systems.
Discontinuous H∞ Control of Underactuated Mechanical Systems with Friction and Backlash
Raul Rascon,Joaquin Alvarez,Luis T. Aguilar 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
Nonlinear H∞-control is extended to discontinuous mechanical systems with degree of underactuationone, where nonlinear phenomena such as Coulomb friction and backlash are considered. The problem in questionis to design a feedback controller via output measurements so as to obtain the closed-loop system in which alltrajectories are locally ultimate bounded, and the underactuated link is regulated to a desired position while alsoattenuating the influence of external perturbations and nonlinear phenomena. It is considered that positions are theonly measurements available for feedback in the system. Performance issues of the discontinuous H∞-regulationcontroller are illustrated in an experimental study made for a rectilinear plant with friction modified to have a gapin the point of contact between bodies.