Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems
Systems and Control
2020-09-02 v2 Systems and Control
Abstract
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.
Keywords
Cite
@article{arxiv.2005.02319,
title = {Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems},
author = {Carmen Chan-Zheng and Pablo Borja and Jacquelien M. A. Scherpen},
journal= {arXiv preprint arXiv:2005.02319},
year = {2020}
}
Comments
This work is accepted as a Late-Breaking result at the IFAC World Congress 2020 Version 2 changes: -Corrected minor typos -Corrected equation 21 and 27