Feedback passivity-based control of discrete nonlinear systems with time-delay for variable geometry truss manipulator. (English) Zbl 1432.93277
Summary: In this paper, the feedback passivity-based control of nonlinear discrete time-delay systems for variable geometry truss manipulators is investigated. To determine an appropriate communication channel in the sense of feedback passivation, we first model the dynamics of the variable geometry truss manipulator as a generalized discrete nonlinear system with time-delay. Then we further prove that when the infinite norm of estimated error is bounded, as long as there is a controller enables the closed-loop system to be input-strictly passive, there must be a deterministic equivalent controller to ensure that the system is stochastically quasi passive. After that, on the basis of the conclusion obtained, a more conclusive corollary is addressed for linear plants. Though passivity is a stricter condition than stability, feedback passivation does not impose more restrictions on estimate errors, and therefore does not require more communication channel information than mean square stability. Finally, we simplify the variable geometry truss dynamics to a linear plant to simulate to verify the validity of our method, and also compared the experimental results with the methods in the existing literature.
MSC:
| 93D15 | Stabilization of systems by feedback |
| 93C10 | Nonlinear systems in control theory |
| 93C43 | Delay control/observation systems |
| 93E15 | Stochastic stability in control theory |
Keywords:
feedback passivation; discrete nonlinear system; passivity-based control; time-delay; variable geometry truss manipulatorReferences:
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