FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3111281292> ?p ?o ?g. }

• W3111281292 endingPage "1897" @default.
• W3111281292 startingPage "1892" @default.
• W3111281292 abstract "In this letter, 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, the resulting controllers stabilize the plant and simultaneously address the performance of the closed-loop system. Moreover, our analysis provides a clear insight into how the kinetic energy, the potential energy, and the damping of the mechanical system are related to its transient response, endowing in this way the tuning rules with a physical interpretation. Additionally, we corroborate the analytical results through the practical implementation of a controller that stabilizes a two degrees-of-freedom (DoF) planar manipulator, where the control gains are tuned following the proposed rules." @default.
• W3111281292 created "2020-12-21" @default.
• W3111281292 creator A5006936861 @default.
• W3111281292 creator A5032080789 @default.
• W3111281292 creator A5070035066 @default.
• W3111281292 date "2021-12-01" @default.
• W3111281292 modified "2023-09-24" @default.
• W3111281292 title "Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems" @default.
• W3111281292 cites W194456869 @default.
• W3111281292 cites W1965080817 @default.
• W3111281292 cites W2004741125 @default.
• W3111281292 cites W2049997695 @default.
• W3111281292 cites W2058594233 @default.
• W3111281292 cites W2066260126 @default.
• W3111281292 cites W2101581099 @default.
• W3111281292 cites W2113433055 @default.
• W3111281292 cites W2115103036 @default.
• W3111281292 cites W2123963295 @default.
• W3111281292 cites W2137952522 @default.
• W3111281292 cites W2150033285 @default.
• W3111281292 cites W2174497162 @default.
• W3111281292 cites W2542140032 @default.
• W3111281292 cites W2562183967 @default.
• W3111281292 cites W2742307252 @default.
• W3111281292 cites W3017003242 @default.
• W3111281292 cites W4214690803 @default.
• W3111281292 cites W4243369158 @default.
• W3111281292 cites W4301058535 @default.
• W3111281292 doi "https://doi.org/10.1109/lcsys.2020.3044835" @default.
• W3111281292 hasPublicationYear "2021" @default.
• W3111281292 type Work @default.
• W3111281292 sameAs 3111281292 @default.
• W3111281292 citedByCount "3" @default.
• W3111281292 countsByYear W31112812922022 @default.
• W3111281292 countsByYear W31112812922023 @default.
• W3111281292 crossrefType "journal-article" @default.
• W3111281292 hasAuthorship W3111281292A5006936861 @default.
• W3111281292 hasAuthorship W3111281292A5032080789 @default.
• W3111281292 hasAuthorship W3111281292A5070035066 @default.
• W3111281292 hasBestOaLocation W31112812922 @default.
• W3111281292 hasConcept C105795698 @default.
• W3111281292 hasConcept C111919701 @default.
• W3111281292 hasConcept C119599485 @default.
• W3111281292 hasConcept C121332964 @default.
• W3111281292 hasConcept C127413603 @default.
• W3111281292 hasConcept C133731056 @default.
• W3111281292 hasConcept C154945302 @default.
• W3111281292 hasConcept C158622935 @default.
• W3111281292 hasConcept C171912257 @default.
• W3111281292 hasConcept C17500928 @default.
• W3111281292 hasConcept C186370098 @default.
• W3111281292 hasConcept C203479927 @default.
• W3111281292 hasConcept C2524010 @default.
• W3111281292 hasConcept C2681867 @default.
• W3111281292 hasConcept C2775924081 @default.
• W3111281292 hasConcept C2777212361 @default.
• W3111281292 hasConcept C2778809601 @default.
• W3111281292 hasConcept C2780799671 @default.
• W3111281292 hasConcept C33923547 @default.
• W3111281292 hasConcept C41008148 @default.
• W3111281292 hasConcept C47116090 @default.
• W3111281292 hasConcept C47446073 @default.
• W3111281292 hasConcept C536315585 @default.
• W3111281292 hasConcept C62520636 @default.
• W3111281292 hasConcept C6557445 @default.
• W3111281292 hasConcept C85761212 @default.
• W3111281292 hasConcept C86803240 @default.
• W3111281292 hasConceptScore W3111281292C105795698 @default.
• W3111281292 hasConceptScore W3111281292C111919701 @default.
• W3111281292 hasConceptScore W3111281292C119599485 @default.
• W3111281292 hasConceptScore W3111281292C121332964 @default.
• W3111281292 hasConceptScore W3111281292C127413603 @default.
• W3111281292 hasConceptScore W3111281292C133731056 @default.
• W3111281292 hasConceptScore W3111281292C154945302 @default.
• W3111281292 hasConceptScore W3111281292C158622935 @default.
• W3111281292 hasConceptScore W3111281292C171912257 @default.
• W3111281292 hasConceptScore W3111281292C17500928 @default.
• W3111281292 hasConceptScore W3111281292C186370098 @default.
• W3111281292 hasConceptScore W3111281292C203479927 @default.
• W3111281292 hasConceptScore W3111281292C2524010 @default.
• W3111281292 hasConceptScore W3111281292C2681867 @default.
• W3111281292 hasConceptScore W3111281292C2775924081 @default.
• W3111281292 hasConceptScore W3111281292C2777212361 @default.
• W3111281292 hasConceptScore W3111281292C2778809601 @default.
• W3111281292 hasConceptScore W3111281292C2780799671 @default.
• W3111281292 hasConceptScore W3111281292C33923547 @default.
• W3111281292 hasConceptScore W3111281292C41008148 @default.
• W3111281292 hasConceptScore W3111281292C47116090 @default.
• W3111281292 hasConceptScore W3111281292C47446073 @default.
• W3111281292 hasConceptScore W3111281292C536315585 @default.
• W3111281292 hasConceptScore W3111281292C62520636 @default.
• W3111281292 hasConceptScore W3111281292C6557445 @default.
• W3111281292 hasConceptScore W3111281292C85761212 @default.
• W3111281292 hasConceptScore W3111281292C86803240 @default.
• W3111281292 hasFunder F4320323217 @default.
• W3111281292 hasIssue "6" @default.
• W3111281292 hasLocation W31112812921 @default.
• W3111281292 hasLocation W31112812922 @default.

• next