Dead-zone compensation via passivity-based control for a class of mechanical systems

Authors

Carmen Chan-Zheng, Pablo Borja, Jacquelien M.A. Scherpen

Abstract

This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a nonlinearity. Then, we propose an energy and damping injection approach — based on the PI-PBC technique — that compensates for the dead-zone. Moreover, we provide an analysis of the performance of the proposed controller near the equilibrium. We conclude this paper by experimentally validating the results on a two degrees-of-freedom planar manipulator.

Keywords

damping injection; energy shaping; passivity; pid; tuning

Citation

• Journal: IFAC-PapersOnLine
• Year: 2023
• Volume: 56
• Issue: 1
• Pages: 319–324
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2023.02.054
• Note: 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022- Canberra, Australia, January 4-6, 2023

BibTeX

@article{Chan_Zheng_2023,
  title={{Dead-zone compensation via passivity-based control for a class of mechanical systems}},
  volume={56},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2023.02.054},
  number={1},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Chan-Zheng, Carmen and Borja, Pablo and Scherpen, Jacquelien M.A.},
  year={2023},
  pages={319--324}
}

Download the bib file

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