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A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments

机译：基于虚拟收缩的控制器，用于跟踪柔性关节端口汉密尔顿机器人：理论与实验

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Summary >In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible‐joint robots in the port‐Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed‐loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed‐loop virtual system exhibits properties such as structure preservation, differential passivity, and the existence of (incrementally) passive maps. The method is later applied to a planar RR robot, and two nonlinear tracking control schemes in the developed controllers family are designed using different contraction analysis approaches. Experiments confirm the theoretical results for each controller. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“EN”XML：ID =“RNC4929-ABS-ABS-0001”> <标题类型=“main”>摘要</ title> 在这项工作中，我们提出了一种建设性的方法来设计一个虚拟收缩系列控制器的系列，该控制器解决了端口汉密尔顿框架中灵活关节机器人的标准轨迹跟踪问题。所提出的设计方法，称为虚拟收缩控制，结合了虚拟控制系统和收缩分析的概念。结果表明，在潜在的能量匹配条件下，保证闭环虚拟系统是对预定义轨迹的对指数收敛。此外，闭环虚拟系统展示了结构保存，差分传递性和（逐渐上）被动地图的属性。该方法后来应用于平面RR机器人，并且使用不同的收缩分析方法设计了两个非线性跟踪控制方案。实验证实了每个控制器的理论结果。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2020年第8期</span><b style="margin: 0 2px;">|</b><span>共27页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=contraction&option=203" rel="nofollow">contraction;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=flexible‐joints robots&option=203" rel="nofollow">flexible‐joints robots;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=port‐Hamiltonian systems&option=203" rel="nofollow">port‐Hamiltonian systems;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=tracking control&option=203" rel="nofollow">tracking control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=virtual control systems&option=203" rel="nofollow">virtual control systems;</a> </p> <div class="translation"> 机译：收缩;柔性关节机器人;端口汉密尔顿系统;跟踪控制;虚拟控制系统; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704023066985.html">A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments</a> <b>[J]</b> . <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> </a> <a href="/journal-foreign-21736/" target="_blank" rel="nofollow" class="tuijian_authcolor">International Journal of Robust and Nonlinear Control .</a> <span>2020</span><span>,第8期</span> </span> </div> <p class="zwjiyix translation" 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href="/academic-conference-cn_meeting-59000_thesis/020222893954.html">一种用于不确定移动机器人轨迹、路径跟踪的通用控制器</a> <b>[C]</b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=李少军&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 李少军</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=马保离&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,马保离</a> <span> <a href="/conference-cn-59000/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 2005中国控制与决策学术年会 </a> <span> <span> . 2005</span> </span> </div> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/academic-degree-domestic_mphd_thesis/020314057599.html">基于虚拟分解控制的柔性关节机器人轨迹跟踪控制研究</a> <b>[A] </b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=李生&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 李生</a> <span> . 2018</span> </span> </div> </li> </ul> <ul style="display: none;"> 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adjustable, power outages around the storage memory, the satellite mobile communications beam / supersonic aerospace robots / industrial robots / robot family management / cleaning robot / toy robot / plane.</a> <b>[P]</b> . <span> 外国专利：  KR20060058077A </span> <span> . 2006-05-29</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：三维人体研究，gps密度图像精确跟踪导航设备2/6/10/16/20 /量大，发动机多串联燃料/多直喷发动机，氢发动机/锂离子电池/电气能源/涡轮发动机或液态氢，液态氧，液体燃料火箭发动机/核动力发动机或固体燃料助推火箭发动机gakgukga地区/每个基础建筑物/地球和太空恒星基础方向，行为，武术，瑜伽，免费可调，存储存储器周围停电，卫星移动通信束/超音速航天机器人/工业机器人/机器人家庭管理/清洁机器人/玩具机器人/飞机。 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130499823045.html">Procedure for impedance-based multi-task tracking, impedance-based multi-task tracking controllers and power and/or torque-controlled robots</a> <b>[P]</b> . <span> 外国专利：  DE102020120116A1 </span> <span> . 2021-04-22</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：基于阻抗的多任务跟踪，基于阻抗的多任务跟踪控制器和功率和/或扭矩控制机器人的程序 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130448184474.html">Robot joint position controller has temporary target positioner which drives joint of robot to virtual position when reaction force that drives joint of robot exceeds predetermined limiting value</a> <b>[P]</b> . <span> 外国专利：  DE10019256A1 </span> <span> . 2001-01-18</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：机器人关节位置控制器具有临时目标定位器，当驱动机器人关节的反作用力超过预定极限值时，该目标定位器将机器人关节驱动到虚拟位置 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" 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