Passivity-based control of mechanical systems with linear damping identification

Authors

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

Abstract

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 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.

Keywords

identification; control methods; design methodologies; robots manipulators; tuning; port-Hamiltonian; energy-based method; PID control; oscillations

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 19
• Pages: 255–260
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.11.087
• Note: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021- Berlin, Germany, 11-13 October 2021

BibTeX

@article{Chan_Zheng_2021,
  title={{Passivity-based control of mechanical systems with linear damping identification}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.11.087},
  number={19},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Chan-Zheng, Carmen and Borja, Pablo and Scherpen, Jacquelien M.A.},
  year={2021},
  pages={255--260}
}

Download the bib file

References

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