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Borja, Pablo und Della Santina, Cosimo und Dabiri, Azita (2022) On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems. IEEE Control Systems Letters, 6, Seiten 3433-3438. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3185655. ISSN 2475-1456.
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Offizielle URL: https://dx.doi.org/10.1109/LCSYS.2022.3185655
Kurzfassung
Damping injection is a well-studied tool in nonlinear control theory to stabilize and shape the transient of mechanical systems. Interestingly, the injection of coupled damping yielding gyroscopic forces has received far less attention. This letter aims to fill this gap for gyroscopic forces that couple actuated and unactuated coordinates. First, we establish sufficient conditions for the stability of the closed loop. Then, we provide analytic results proving that injecting coupled damping may improve the closed-loop performance. We illustrate the results via the stabilization of three mechanical systems.
| elib-URL des Eintrags: | https://elib.dlr.de/193641/ | ||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
| Titel: | On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems | ||||||||||||||||
| Autoren: |
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| Datum: | 23 Juni 2022 | ||||||||||||||||
| Erschienen in: | IEEE Control Systems Letters | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| Band: | 6 | ||||||||||||||||
| DOI: | 10.1109/LCSYS.2022.3185655 | ||||||||||||||||
| Seitenbereich: | Seiten 3433-3438 | ||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | damping injection | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
| Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||
| Hinterlegt am: | 27 Jan 2023 14:50 | ||||||||||||||||
| Letzte Änderung: | 19 Okt 2023 09:57 |
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