Passivity-based contour following control design with virtual plant disturbance Compensation

Chao Yun Chen, Ming-Yang Cheng, Jen Che Wu, Ke Han Su

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

In this paper, a passivity-based control scheme for contour following applications is developed. However, the original passive velocity field control requires an accurate dynamic model. To cope with this problem, in the proposed approach an alternative control law design based on the Lyapunov function is employed to speed up the convergence rate of velocity error. Moreover, in order to deal with the modeling uncertainty problem, this paper develops a virtual plant disturbance compensator to estimate the uncertainties due to inaccurate modeling and external disturbance. Several experiments have been conducted to compare the proposed approach with the conventional coupling approach. Experimental results verify the effectiveness of the proposed approach.

原文English
主出版物標題AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
頁面48-53
頁數6
DOIs
出版狀態Published - 2010 六月 25
事件2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
持續時間: 2010 三月 212010 三月 24

出版系列

名字International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
國家/地區Japan
城市Nagaoka, Niigata
期間10-03-2110-03-24

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 建模與模擬
  • 電腦科學應用
  • 電氣與電子工程

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