Passivity-Based Control of Mechanical Systems with Linear Damping Identification

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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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.
Original languageEnglish
Title of host publicationProceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021)
EditorsAlessandro Macchelli
PublisherElsevier
Pages255-260
Number of pages6
DOIs
Publication statusPublished - 2021
Event7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021) - Berlin , Germany
Duration: 11-Oct-202113-Oct-2021

Publication series

NameIFAC-PapersOnLine
PublisherElsevier
Number21
Volume54
ISSN (Electronic)2405-8963

Conference

Conference7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021)
Country/TerritoryGermany
CityBerlin
Period11/10/202113/10/2021

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