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 Technologie en Productie Automatisering

Onderzoeksoutput › Academic › peer review

Samenvatting

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.

Originele taal-2	English
Titel	Proceedings of the European Control Conference 2022 (ECC 2022)
Uitgeverij	IEEE
Status	E-pub ahead of print - 2022
Evenement	2022 European Control Conference, ECC 2022 - London, United Kingdom Duur: 12-jul.-2022 → 15-jul.-2022

Conference

Conference	2022 European Control Conference, ECC 2022
Land/Regio	United Kingdom
Stad	London
Periode	12/07/2022 → 15/07/2022

Handle.net

Permanente koppeling

Citeer dit

@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 -