Passivity-based control of mechanical systems with linear damping identification
محفوظ في:
| المؤلفون: | , , |
|---|---|
| تاريخ النشر: | 2021 |
| الوصف: | 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. |
| البلد: | Kérwá |
| المؤسسة: | Universidad de Costa Rica |
| Repositorio: | Kérwá |
| اللغة: | Inglés |
| OAI Identifier: | oai:kerwa.ucr.ac.cr:10669/105078 |
| الوصول للمادة أونلاين: | https://hdl.handle.net/10669/105078 https://doi.org/10.1016/j.ifacol.2021.11.087 |
| كلمة مفتاحية: | Identification and control methods Design methodologies Robots manipulators Tuning port-Hamiltonian Energy-based method PID control Oscillations. Robotics |