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On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

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/
Document Type:Article
Title:On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Borja, PabloUniversity of PlymouthUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Dabiri, AzitaDelft University of TechnologyUNSPECIFIEDUNSPECIFIED
Date:23 June 2022
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
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:19 Oct 2023 09:57

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