AI 中文总结
本文建立阻抗实现问题与广义输出调节理论的等价关系，提出一种保留简单结构的新型控制律，通过数值仿真验证其在交互性能和鲁棒性上优于传统PD控制器。
AI 中文摘要
在物理交互过程中实现期望阻抗仍是柔顺控制的核心问题。许多实际应用采用导纳控制结合线性位置控制器的结构，但该结构通常仅能实现近似的阻抗行为。本文建立了阻抗实现问题与广义输出调节理论的严格等价关系，表明在导纳架构下，假设内部位置控制器被限制为常用信号的线性组合时，存在唯一的控制律可实现精确的柔顺控制。所得控制器在保留简单结构的同时，引入了相较于传统PD控制的附加项。数值仿真用于说明所提方法在标称条件及存在模型不确定性时的有效性，并将其性能与标准PD控制器进行对比。结果显示所提方法的交互性能与鲁棒性均得到提升，验证了理论分析的正确性。
英文摘要
Achieving a desired impedance during physical interaction remains a central problem in compliant control. In many practical implementations, admittance control combined with linear position controllers is employed, but this structure typically results in only approximate impedance behavior. This paper establishes a rigorous equivalence between the impedance realization problem and the generalized output regulation theory, and shows that, under the admittance architecture and assuming the inner position controller is restricted to linear combinations of commonly used signals, a unique control law exists that achieves exact compliant control. The resulting controller introduces additional terms with respect to a conventional PD formulation, while preserving a simple structure. Numerical simulations are used to illustrate the effectiveness of the proposed approach under nominal conditions and in the presence of model uncertainties, and to compare its performance against a standard PD controller. The results demonstrate improved interaction performance and robustness, supporting the theoretical analysis.
