Passivity-based control of mechanical systems with linear damping identification
Abstract
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique for linear viscous damping identification of the system to improve the accuracy of the selected control technique, and (ii) we implement a passivity-based controller to stabilize and reduce the oscillations by selecting the control parameters properly in accordance with the identified damping. Moreover, we provide an analysis for a particular passivity-based control approach that has been shown successfully for reducing such oscillations. Also, we validate the methodology by implementing it experimentally in a planar manipulator.
Cite
@article{arxiv.2105.04324,
title = {Passivity-based control of mechanical systems with linear damping identification},
author = {Carmen Chan-Zheng and Pablo Borja and Jacquelien Scherpen},
journal= {arXiv preprint arXiv:2105.04324},
year = {2022}
}
Comments
Submission for 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control. Fixed minor typo. Fixed G1 with correct value