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Adaptive and Robust Passivity-Based Stabilization of a Class of Nonholonomic Mechanical Systems : 일군의 동적 논홀로노믹 기계시스템의 수동성기반 적응 및 강건 안정화 제어기법 연구
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- Authors
- Advisor
- 이동준
- Major
- 공과대학 기계항공공학부
- Issue Date
- 2016-08
- Publisher
- 서울대학교 대학원
- Keywords
- Nonholonomic constraints ; uncertain inertial parameters ; adaptive control ; robust control
- Description
- 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 8. 이동준.
- Abstract
- We present novel passivity-based stabilization control frameworks for a class of nonholonomic mechanical systems with uncertain inertial parameters. Passive configuration decomposition is first applied to configuration-level decompose the system's Lagrange-DAlembert dynamics into two separate systems. Each of these decomposed systems evolves on its respective configuration space and individually inherits Lagrangian structure and passivity from the original dynamics. Utilizing the nonlinearity and passivity of the decomposed dynamics, we then derive adaptive passivity-based time-varying control (APBVC) and robust passivity-based switching control (RPBSC) schemes, which adopt the concepts of adaptive control and sliding-mode control respectively to achieve stabilization for this certain class of nonholonomic mechanical systems. Both simulation and experimental results are provided to verify our proposed control frameworks.
- Language
- English
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