Tuning of Passivity-Based Controllers for Mechanical Systems

Authors

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

Abstract

This article describes several approaches for tuning the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in tuning controllers that preserve the mechanical system structure in the closed loop. To this end, first, we provide tuning rules for stabilization, i.e., the rate of convergence (exponential stability) and stability margin (input-to-state stability). Then, we provide guidelines to remove the overshoot. In addition, we propose a methodology to tune the gyroscopic-related parameters. We also provide remarks on the damping phenomenon to facilitate the practical implementation of our approaches. We conclude this article with experimental results obtained from applying our tuning rules to a fully actuated and an underactuated mechanical system.

Citation

• Journal: IEEE Transactions on Control Systems Technology
• Year: 2023
• Volume: 31
• Issue: 6
• Pages: 2515–2530
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tcst.2023.3260995

BibTeX

@article{Chan_Zheng_2023,
  title={{Tuning of Passivity-Based Controllers for Mechanical Systems}},
  volume={31},
  ISSN={2374-0159},
  DOI={10.1109/tcst.2023.3260995},
  number={6},
  journal={IEEE Transactions on Control Systems Technology},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Chan-Zheng, Carmen and Borja, Pablo and Scherpen, Jacquelien M. A.},
  year={2023},
  pages={2515--2530}
}

Download the bib file

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