Problem
Research questions and friction points this paper is trying to address.
energetic passivity
control performance
external disturbances
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
🤖 AI Summary
本文提出一种鲁棒时变半被动速度场控制方法，旨在保证系统在与物理环境交互时的安全性，同时通过允许非被动行为来提高任务性能。
📝 Abstract
Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical environment. However, solely adhering to energetic passivity constraints may impose fundamental limitations on control performance and, in some cases, prevent the successful execution of controlled tasks. In addition, external disturbances from the physical environment can drive the system energy level and states beyond operational regions, thereby undermining task performance and safety. In this paper, we study a robust time-varying semi-passive velocity field control to aim to relax the inherently conservative nature of fully passive control methods in a controlled manner. Specifically, the proposed control method guarantees passivity of the closed-loop system with respect to the force-velocity input-output pair when the energy level exceeds a predefined level, while permitting non-passive behaviors to preserve task performance otherwise. Furthermore, the energy level and the states of the closed-loop system are proved to converge to bounded domains even in the presence of unpredicted disturbances. Additionally, the proposed method also enables constraining power flow between the closed-loop system and its physical environment to enhance safety in the interaction process. Numerical simulation examples demonstrate the effectiveness of the proposed method.
Innovation
Methods, ideas, or system contributions that make the work stand out.
semi-passive velocity field control
boundedness guarantees
robust time-varying control
energetic passivity
safe interaction
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