发表机构
Graduate School of Science and Technology, Nara Institute of Science and Technology（奈良科学技术大学大学院科学技术研究科）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对机械系统与物理环境的安全交互问题，提出一种鲁棒时变半无源速度场控制方法，可放宽全无源控制的保守性，保证系统有界性，经数值仿真验证有效。
AI 中文摘要
能够保证相对于外力与速度对的能量无源的控制器，可实现机械系统与其物理环境之间的安全交互。然而，仅遵循能量无源约束可能会对控制性能造成根本性限制，在某些情况下还会阻碍受控任务的成功执行。此外，来自物理环境的外部干扰可能会使系统能量水平和状态超出操作区域，从而损害任务性能与安全性。本文研究一种鲁棒时变半无源速度场控制，旨在以可控方式放宽全无源控制方法固有的保守性。具体而言，当能量水平超过预定义阈值时，所提控制方法保证闭环系统相对于力-速度输入输出对的无源特性，而在其他情况下则允许非无源行为以维持任务性能。此外，即使存在不可预测的干扰，也能证明闭环系统的能量水平和状态会收敛到有界域中。另外，所提方法还可约束闭环系统与其物理环境之间的功率流，以增强交互过程的安全性。数值仿真示例验证了所提方法的有效性。
英文摘要
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.
