Dead-zone compensation via passivity-based control for a class of mechanical systems
dc.contributor.author | Chan-Zheng, C | |
dc.contributor.author | Borja, P | |
dc.contributor.author | Scherpen, JMA | |
dc.date.accessioned | 2023-05-18T00:10:44Z | |
dc.date.available | 2023-05-18T00:10:44Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://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.extent | 319-324 | |
dc.language | en | |
dc.publisher | Elsevier BV | |
dc.subject | damping injection | |
dc.subject | energy shaping | |
dc.subject | passivity | |
dc.subject | pid | |
dc.subject | tuning. | |
dc.title | Dead-zone compensation via passivity-based control for a class of mechanical systems | |
dc.type | journal-article | |
dc.type | Conference Proceeding | |
plymouth.author-url | https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000969105500054&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008 | |
plymouth.issue | 1 | |
plymouth.volume | 56 | |
plymouth.publication-status | Published | |
plymouth.journal | IFAC-PapersOnLine | |
dc.identifier.doi | 10.1016/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.dateAccepted | 2022-10-22 | |
dc.date.updated | 2023-05-18T00:10:44Z | |
dc.rights.embargodate | 2023-5-19 | |
dc.identifier.eissn | 2405-8963 | |
dc.rights.embargoperiod | forever | |
rioxxterms.versionofrecord | 10.1016/j.ifacol.2023.02.054 |