Tuning Rules for a Class of Port-Hamiltonian Mechanical SystemsChan Zheng, C., Borja Rosales, P. & Scherpen, J. M. A., 2020, p. extended abstract.
Research output: Contribution to conference › Abstract › Academic
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.
|Publication status||Published - 2020|
|Event||21st IFAC World Congress - Berlin, Germany|
Duration: 12-Jul-2020 → 17-Jul-2020
|Conference||21st IFAC World Congress|
|Period||12/07/2020 → 17/07/2020|
21st IFAC World Congress
12/07/2020 → 17/07/2020Berlin, Germany