外观
论文arXiv 2608.007562 个月前
基于广义输出调节的阻抗控制
原文链接：Impedance Control via Generalized Output Regulation（arXiv 2608.00756 · 发布日期：2026-08-01）
Impedance Control via Generalized Output Regulation
本文将阻抗实现问题等价为广义输出调节，在导纳架构下推导唯一精确柔顺控制律，并通过数值仿真验证。
核心要点
- 物理交互中实现期望阻抗是柔顺控制核心，常用导纳加线性位置控制通常只近似实现。
- 将阻抗实现严格等价于广义输出调节，并限定内环为常用信号的线性组合。
- 证明存在唯一控制律可实现精确柔顺控制，在常规PD基础上加入附加项且结构简单。
- 数值仿真在标称和模型不确定条件下优于标准PD，显示更好交互性能与鲁棒性。
验证范围与局限：仅在数值仿真中验证，包括标称条件和存在模型不确定性的情形。
英文摘要 (Abstract)
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.
作者：Hélio Jacinto Cruz Neto, Victor Shime, Thiago Boaventura
来源
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