基于无源性的控制导论
Introduction to Passivity-based Control
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中文总结 AI 辅助
本章概述非线性控制框架基于无源性的控制（PBC），介绍其以物理量为核心的特点及相比其他数学型非线性控制方法的优势，回顾其基本内容与常见方法。
中文摘要 AI 辅助
基于无源性的控制（PBC）是一种非线性控制设计框架，已被证明适用于控制各类系统，尤其是物理系统。其核心要素是能量、耗散等物理量，使控制设计更直观，且赋予控制器物理解释。与其他基于数学的非线性控制方法不同，PBC的能量视角和物理直觉常让该策略更具鲁棒性和能效。本章概述PBC，回顾这一强大非线性控制框架的基本方面及最常见的PBC方法。
英文摘要
Passivity-based control (PBC) is a nonlinear control design framework that has proven adequate for controlling a wide range of systems, especially physical ones. Their main ingredients are physical quantities such as energy and dissipation, making the control design more intuitive and endowing the controllers with a physical interpretation. In contrast to other, mathematically-based nonlinear control approaches, the energy-based viewpoint and physical intuition of PBC often make this strategy more robust and energy efficient. This chapter provides an overview of PBC, revisiting the basic aspects of this powerful nonlinear control framework and the most common PBC approaches.
