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feedback passivation

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1 results

Noncollocated passivity-based PD control of a single-link flexible manipulator
Liang-Yih Liu, King Yuan
Journal:

Robotica / Volume 21 / Issue 2 / March 2003

Published online by Cambridge University Press:

19 February 2003, pp. 117-135
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The passivity property of a noncollocated single-link flexible manipulator with a parameterized output is studied. The system can be characterized by either the irrational transfer function of an infinite-dimensional model or its truncated rational transfer functions. Necessary and sufficient conditions for these transfer functions to be passive are found. It is also shown that a non-passive, marginal minimum-phase, truncated transfer function can be rendered passive by using either the root strain feedback or the joint angular acceleration feedback. For the noncollocated truncated passive transfer function, a PD controller suffices to stabilize the overall system. Numerical results are given to show the efficacy of the proposed approaches.