TY - JOUR
T1 - Tuning Rules for Passivity-Based Integral Control for a Class of Mechanical Systems
AU - Chan Zheng, Carmen
AU - Muñoz Arias, Mauricio
AU - Scherpen, Jacquelien M.A.
PY - 2022/6/27
Y1 - 2022/6/27
N2 - This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the mechanical system at the desired equilibrium even in the presence of matched disturbances; additionally, we show that our approach is robust against unmatched disturbances. Furthermore, we provide tuning rules to prescribe the performance of the closed-loop system. We conclude this manuscript with experimental results obtained from a robotic arm.
AB - This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the mechanical system at the desired equilibrium even in the presence of matched disturbances; additionally, we show that our approach is robust against unmatched disturbances. Furthermore, we provide tuning rules to prescribe the performance of the closed-loop system. We conclude this manuscript with experimental results obtained from a robotic arm.
KW - Exponential stability
KW - Passivity-based control
KW - Port-Hamiltonian
KW - Tunning rules
UR - https://ieeexplore.ieee.org/document/9807321
U2 - 10.1109/LCSYS.2022.3186618
DO - 10.1109/LCSYS.2022.3186618
M3 - Article
SN - 2475-1456
VL - 7
SP - 37
EP - 42
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
IS - 2023
ER -