Exponential Stability and Tuning for a Class of Mechanical Systems

Tuning rules for passivity-based integral control for a class of mechanical systems

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the mechanical system at the desired equilibrium even in the presence of matched disturbances; additionally, we show that our approach is robust against unmatched disturbances. Furthermore, we provide tuning rules to prescribe the performance of the closed-loop system. We conclude this manuscript with experimental results obtained from a robotic arm.

Tuning of passivity-based controllers for mechanical systems

This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system structure in closed-loop. To this end, first, we provide tuning rules for stabilization, i.e., the rate of convergence (exponential stability) and stability margin (input-to-state stability). Then, we provide guidelines to remove the overshoot while prescribing the rise time. Additionally, we propose a methodology to tune the gyroscopic-related parameters. We a…

Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

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.

Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems

In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To establish the tuning rules, we implement a PID passivity-based controller. Then, we linearize the closed-loop system, and we transform the matrix of the resulting system into a class of saddle point matrices to analyze the influence of the control gains, in terms of the oscillations and the rise time, on the transient response of the closed-loop system. Hence, …

Cascade Control: Data-Driven Tuning Approach Based on Bayesian Optimization

Cascaded controller tuning is a multi-step iterative procedure that needs to be performed routinely upon maintenance and modification of mechanical systems. An automated data-driven method for cascaded controller tuning based on Bayesian optimization is proposed. The method is tested on a linear axis drive, modeled using a combination of first principles model and system identification. A custom cost function based on performance indicators derived from system data at different candidate configurations of controller parameters is modeled by a Gaussian process. It is further optimized by minimi…

受扭矩约束的N自由度机械臂的指数自整定容错控制

Exponential Auto-Tuning Fault-Tolerant Control of N Degrees-of-Freedom Manipulators Subject to Torque Constraints

本文针对n自由度机械臂提出一种基于子系统的自整定容错控制（SBFC）系统，结合执行器故障校正与饱和函数限制过大扭矩，利用JAYA算法优化控制增益，确保系统一致指数稳定并提升轨迹跟踪精度。