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arXiv · 2105.04324

Passivity-based control of mechanical systems with linear damping identification

Carmen Chan-Zheng·Pablo Borja·Jacquelien Scherpen
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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 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.

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Carmen Chan-Zheng, Pablo Borja, Jacquelien Scherpen. 2021-05-10. Passivity-based control of mechanical systems with linear damping identification. https://doi.org/10.1016/j.ifacol.2021.11.087

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