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1、CONTROLSYSTEMS,ROBOTICSANDAUTOMATION-Vol.XIII-PassivityBasedControl-AntonioLoríaandHenkNijmeijerPASSIVITYBASEDCONTROLAntonioLoríaCNRS,LSS-Supélec,PlateaudeMoulon,91192,GifsurYvette,FranceHenkNijmeijerDepartmentsofMech.Engg.,EindhovenUniv.ofTechnology,TheNetherlandsKey
2、words:Passivity,automaticcontrol,mechanicalsystems,robotmanipulators,Euler-Lagrangesystems,nonlinearsystems,input-outputstability.Contents1.Introduction2.Passivity:mathematicallyspeaking2.1.InaGeneralInput-OutputFramework3.Stabilityofpassivesystems3.1.L2-Stability3.2.
3、FromL2-StabilitytoLyapunovStability4.PBCofEuler-Lagrangesystems4.1PassivityofELSystems4.2.PBCofELSystems4.2.1.AnIntroductoryExample4.2.2LyapunovStabilityoftheES+DIControllers4.3.ELControllers4.4.TrackingaTime-varyingReference5.EpilogueGlossaryBibliographyBiographicalS
4、ketchesSummaryPassivityisafundamentalpropertyofmanyphysicalsystemswhichmayberoughlydefinedintermsofUNESCO–EOLSSenergydissipationandtransformation.ItisaninherentInput-Outputpropertyinthesensethatitquantifiesandqualifiestheenergybalanceofasystemwhenstimulatedbyexternali
5、nputstogeneratesoSAMPLECHAPTERSmeoutput.Passivityisthereforerelatedtothepropertyofstabilityinaninput-outputsense,thatis,wesaythatthesystemisstableifbounded“inputenergy”suppliedtothesystem,yieldsboundedoutputenergy.ThisisincontrasttoLyapunovstabilitywhichconcernstheint
6、ernalstabilityofasystem,thatis,how“far”thestateofasystemisfromadesiredvalue.Inotherwords,howdifferentlyasystembehaveswithrespecttoadesiredperformance.Passivitybasedcontrolisamethodologywhichconsistsincontrollingasystemwiththeaimatmakingtheclosedloopsystem,passive.Thef
7、ieldconstitutesanactiveresearchdirectionandthereforeinthischapterwegiveonlyabasicoverlookofthemostimportantconceptsinvolved.Asectionisalsodevotedtoawideclassofphysical©EncyclopediaofLifeSupportSystems(EOLSS)CONTROLSYSTEMS,ROBOTICSANDAUTOMATION-Vol.XIII-PassivityBasedC
8、ontrol-AntonioLoríaandHenkNijmeijerpassivesystems:theEuler-Lagrange(EL)systemsandtheirpassivity-basedcontrol.Thereadershould
