Passivity-based control of mechanical systems with linear damping identification

TL;DR

This paper introduces a passivity-based control method for nonlinear mechanical systems that combines damping identification and control parameter tuning to enhance stability and reduce oscillations, validated through experiments on a planar manipulator.

Contribution

It presents a novel combined approach of damping identification and passivity-based control for improved stabilization of nonlinear mechanical systems.

Findings

Effective damping identification improves control accuracy

Passivity-based control reduces oscillations in mechanical systems

Experimental validation confirms practical applicability

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.