Dead-zone compensation via passivity-based control for a class of mechanical systems
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| Auteurs: | , , |
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| Date de publication: | 2023 |
| Description: | 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. |
| Pays: | Kérwá |
| Institution: | Universidad de Costa Rica |
| Repositorio: | Kérwá |
| Langue: | Inglés |
| OAI Identifier: | oai:kerwa.ucr.ac.cr:10669/105076 |
| Accès en ligne: | https://hdl.handle.net/10669/105076 https://doi.org/10.1016/j.ifacol.2023.02.054 |
| Mots-clés: | Damping injection Energy shaping Passivity Pid Tuning |