Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

TL;DR

This paper introduces tuning rules for nonlinear port-Hamiltonian mechanical systems to effectively attenuate oscillations by injecting damping, with methods for gain selection and validation on a 2DoF manipulator.

Contribution

It presents novel tuning methods for damping in port-Hamiltonian systems, enhancing transient response control with practical application to a planar manipulator.

Findings

Effective damping tuning rules are proposed.

Simulation confirms improved transient response.

Applicable to nonlinear mechanical systems.

Abstract

In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.