Dead-zone compensation via passivity-based control for a class of mechanical systems

2022/11/03 by Carmen Chan-Zheng, Chan-Zheng, Carmen, Pablo Borja +3 · 1 citation
Engineering · #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Iterative Learning Control Systems #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2211.01822

openalex publication_date 2022/11/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a nonlinearity. Then, we propose an energy and damping injection approach - based on the PI-PBC technique - that compensates for the dead-zone. Moreover, we provide an analysis of the performance of the proposed controller near the equilibrium. We conclude this paper by experimentally validating the results on a two degrees-of-freedom planar manipulator.

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• Data-Driven Dead-Zone Compensation via Projection in Predictive Control Setting

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