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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.

Publication Date

2023-01-01

Publication Title

IFAC-PapersOnLine

Volume

56

Issue

1

ISSN

2405-8963

Embargo Period

2023-05-19

First Page

319

Last Page

324

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