Passivity-based control of mechanical systems with linear damping identification
| Autor: | Chan Zheng, Carmen, Borja, Luis Pablo, Scherpen, Jacquelien M.A., Macchelli, Alessandro |
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| Přispěvatelé: | Discrete Technology and Production Automation |
| Rok vydání: | 2021 |
| Předmět: |
Mechanical system
Identification (information) Control and Systems Engineering Control theory Computer science Nonlinear mechanical systems Passivity Control (management) FOS: Electrical engineering electronic engineering information engineering Systems and Control (eess.SY) Transient response Control parameters Electrical Engineering and Systems Science - Systems and Control |
| Zdroj: | Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021), 255-260 STARTPAGE=255;ENDPAGE=260;TITLE=Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021) |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2021.11.087 |
| Popis: | 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. Submission for 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control. Fixed minor typo. Fixed G1 with correct value |
| Databáze: | OpenAIRE |
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