ORCID
- Borja, Pablo: 0000-0001-7744-0846
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.
DOI
10.1016/j.ifacol.2023.02.054
Publication Date
2023-01-01
Publication Title
IFAC-PapersOnLine
Volume
56
Issue
1
ISSN
2405-8963
Embargo Period
2023-05-19
Organisational Unit
School of Engineering, Computing and Mathematics
First Page
319
Last Page
324
Recommended Citation
Chan-Zheng, C., Borja, P., & Scherpen, J. (2023) 'Dead-zone compensation via passivity-based control for a class of mechanical systems', IFAC-PapersOnLine, 56(1), pp. 319-324. Available at: https://doi.org/10.1016/j.ifacol.2023.02.054
