On the Performance of Passivity-Based Controllers for Standard Mechanical Systems

Carmen Chan Zheng; Pablo  Borja; Jacquelien M.A. Scherpen

On the Performance of Passivity-Based Controllers for Standard Mechanical Systems

Carmen Chan Zheng, Pablo Borja, Jacquelien M.A. Scherpen

Discrete Technology and Production Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This extended abstract describes methodologies to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we provide tuning rules to ensure the desired stability margin, the upper bound on the rate of convergence, and the upper bound on the maximum permissible overshoot of the closed-loop. We conclude this extended abstract with experimental results that illustrate the applicability of the tuning rules in underactuated mechanical systems.

Original language	English
Title of host publication	Proceedings of the European Control Conference 2022 (ECC 2022)
Publisher	IEEE
Publication status	E-pub ahead of print - 2022
Event	2022 European Control Conference, ECC 2022 - London, United Kingdom Duration: 12-Jul-2022 → 15-Jul-2022

Conference

Conference	2022 European Control Conference, ECC 2022
Country/Territory	United Kingdom
City	London
Period	12/07/2022 → 15/07/2022

Keywords

Mechatronics, Lyapunov methods, Nonlinear system theory

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Cite this

@inproceedings{42f1fe48b53c4e27abfb3cdfca99f2bd,

title = "On the Performance of Passivity-Based Controllers for Standard Mechanical Systems",

abstract = "This extended abstract describes methodologies to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we provide tuning rules to ensure the desired stability margin, the upper bound on the rate of convergence, and the upper bound on the maximum permissible overshoot of the closed-loop. We conclude this extended abstract with experimental results that illustrate the applicability of the tuning rules in underactuated mechanical systems. ",

keywords = "Mechatronics, Lyapunov methods, Nonlinear system theory",

author = "{Chan Zheng}, Carmen and Pablo Borja and Scherpen, {Jacquelien M.A.}",

year = "2022",

language = "English",

booktitle = "Proceedings of the European Control Conference 2022 (ECC 2022)",

publisher = "IEEE",

note = "2022 European Control Conference, ECC 2022 ; Conference date: 12-07-2022 Through 15-07-2022",

}

TY - GEN

T1 - On the Performance of Passivity-Based Controllers for Standard Mechanical Systems

AU - Chan Zheng, Carmen

AU - Borja, Pablo

AU - Scherpen, Jacquelien M.A.

PY - 2022

Y1 - 2022

N2 - This extended abstract describes methodologies to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we provide tuning rules to ensure the desired stability margin, the upper bound on the rate of convergence, and the upper bound on the maximum permissible overshoot of the closed-loop. We conclude this extended abstract with experimental results that illustrate the applicability of the tuning rules in underactuated mechanical systems.

AB - This extended abstract describes methodologies to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we provide tuning rules to ensure the desired stability margin, the upper bound on the rate of convergence, and the upper bound on the maximum permissible overshoot of the closed-loop. We conclude this extended abstract with experimental results that illustrate the applicability of the tuning rules in underactuated mechanical systems.

KW - Mechatronics, Lyapunov methods, Nonlinear system theory

M3 - Conference contribution

BT - Proceedings of the European Control Conference 2022 (ECC 2022)

PB - IEEE

T2 - 2022 European Control Conference, ECC 2022

Y2 - 12 July 2022 through 15 July 2022

ER -