论文标题
一类哈米尔顿港机械系统的调整规则
Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems
论文作者
论文摘要
在这个扩展的摘要中，我们为非线性机械系统提出了一种调整方法，以修改闭环系统的行为，在这种情况下，我们对从瞬态响应中减弱振荡特别感兴趣。为此，我们将阻尼注入系统，并提供两种调整方法来选择适合我们目的的收益。此外，我们将这些调整规则应用于2DOF平面操纵器，并提出其仿真结果。
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.
