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dc.contributor.authorChan-Zheng, C
dc.contributor.authorBorja, P
dc.contributor.authorScherpen, JMA
dc.date.accessioned2023-05-18T00:10:44Z
dc.date.available2023-05-18T00:10:44Z
dc.date.issued2023
dc.identifier.issn2405-8963
dc.identifier.issn2405-8963
dc.identifier.urihttps://pearl.plymouth.ac.uk/handle/10026.1/20897
dc.description.abstract

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.

dc.format.extent319-324
dc.languageen
dc.publisherElsevier BV
dc.subjectdamping injection
dc.subjectenergy shaping
dc.subjectpassivity
dc.subjectpid
dc.subjecttuning.
dc.titleDead-zone compensation via passivity-based control for a class of mechanical systems
dc.typejournal-article
dc.typeConference Proceeding
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000969105500054&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue1
plymouth.volume56
plymouth.publication-statusPublished
plymouth.journalIFAC-PapersOnLine
dc.identifier.doi10.1016/j.ifacol.2023.02.054
plymouth.organisational-group|Plymouth
plymouth.organisational-group|Plymouth|Faculty of Science and Engineering
plymouth.organisational-group|Plymouth|Faculty of Science and Engineering|School of Engineering, Computing and Mathematics
plymouth.organisational-group|Plymouth|REF 2021 Researchers by UoA
plymouth.organisational-group|Plymouth|Users by role
plymouth.organisational-group|Plymouth|Users by role|Academics
plymouth.organisational-group|Plymouth|REF 2021 Researchers by UoA|UoA11 Computer Science and Informatics
dcterms.dateAccepted2022-10-22
dc.date.updated2023-05-18T00:10:44Z
dc.rights.embargodate2023-5-19
dc.identifier.eissn2405-8963
dc.rights.embargoperiodforever
rioxxterms.versionofrecord10.1016/j.ifacol.2023.02.054


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