TY - JOUR
T1 - On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems
AU - Borja, Pablo
AU - Santina, Cosimo Della
AU - Dabiri, Azita
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Lyapunov methods
KW - Nonlinear output feedback
KW - Stability of nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=85133671163&partnerID=8YFLogxK
U2 - 10.1109/LCSYS.2022.3185655
DO - 10.1109/LCSYS.2022.3185655
M3 - Article
AN - SCOPUS:85133671163
SN - 2475-1456
VL - 6
SP - 3433
EP - 3438
JO - IEEE Control Systems Letters
JF - IEEE Control Systems Letters
ER -