一类Port-Hamilton力学系统的调谐规则
Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems
摘要：
在这个扩展的摘要中，我们提出了一种非线性机械系统的调谐方法来修改闭环系统的行为，其中我们特别感兴趣的是衰减瞬态响应的振荡。为此，我们将阻尼注入系统，并提供两种调谐方法来选择适合我们目的的增益。此外，我们将这些调整规则应用于2DoF平面机械臂，并给出其仿真结果。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
