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Borja, Pablo and Della Santina, Cosimo and 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, pp. 3433-3438. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3185655. ISSN 2475-1456.
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Official URL: https://dx.doi.org/10.1109/LCSYS.2022.3185655
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/193641/ | ||||||||||||||||
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| Document Type: | Article | ||||||||||||||||
| Title: | On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems | ||||||||||||||||
| Authors: |
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| Date: | 23 June 2022 | ||||||||||||||||
| Journal or Publication Title: | IEEE Control Systems Letters | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| Volume: | 6 | ||||||||||||||||
| DOI: | 10.1109/LCSYS.2022.3185655 | ||||||||||||||||
| Page Range: | pp. 3433-3438 | ||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | damping injection | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||
| DLR - Research theme (Project): | R - Robot Dynamics & Simulation [RO] | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||
| Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||
| Deposited On: | 27 Jan 2023 14:50 | ||||||||||||||||
| Last Modified: | 27 Jan 2023 14:50 |
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