文章基本信息

标题：Passivity-based control of mechanical systems with linear damping identification
本地全文：下载
作者：Carmen Chan-Zheng ; Pablo Borja ; Jacquelien M.A. Scherpen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：19
页码：255-260
DOI：10.1016/j.ifacol.2021.11.087
语种：English
出版社：Elsevier
摘要：AbstractWe 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 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 theoretical analysis for a particular passivity-based control approach on its effectiveness for reducing such oscillations. Also, we validate the methodology by implementing it experimentally in a planar manipulator.
关键词：Keywordsidentificationcontrol methodsdesign methodologiesrobots manipulatorstuningport-Hamiltonianenergy-based methodPID controloscillations