Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

OnderzoeksoutputAcademic

Samenvatting

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.
Originele taal-2English
Pagina'sextended abstract
StatusPublished - 2020
Evenement21st IFAC World Congress
- Berlin, Germany
Duur: 11-jul-202017-jul-2020
https://www.ifac2020.org/

Conference

Conference21st IFAC World Congress
Verkorte titelIFAC WC 2020
Land/RegioGermany
StadBerlin
Periode11/07/202017/07/2020
Internet adres

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