Tuning Rules for Control of Nonlinear Mechanical Systems [article]

Carmen Chan-Zheng, Pablo Borja, Jacquelien M.A. Scherpen
2020 arXiv   pre-print
In this paper, we propose several rules to tune the gains of Passivity-Based Controllers for a class of nonlinear mechanical systems. Such tuning rules aim to prescribe a desired behavior to the closed-loop system, where we are particularly interested in attenuating oscillations and improving the rise time of the transient response. Hence, the resulting controllers stabilize the plant and simultaneously address the performance in terms of oscillations, damping ratio, and rise time of the
more » ... nt response of the closed-loop system. Moreover, the closed-loop system analysis provides a clear insight into how the kinetic energy, the potential energy, and the damping of the mechanical system are related to its transient response, endowing in this way the tuning rules with a physical interpretation. Additionally, we corroborate the analytical results through the practical implementation of a controller that stabilizes a two-degrees-of-freedom (2DoF) planar manipulator, where the control gains are tuned following the proposed rules.
arXiv:2009.03055v1 fatcat:isd3qz7bunh3phi4juxzegla7a