On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

Pablo Borja; Cosimo Della Santina; Azita Dabiri

doi:10.1109/LCSYS.2022.3185655

On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

Pablo Borja
, Cosimo Della Santina
, Azita Dabiri

Delft University of Technology
Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Delft Center for Systems and Control

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	3433-3438
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	6
DOIs	https://doi.org/10.1109/LCSYS.2022.3185655
State	Published - 2022
Externally published	Yes

Keywords

Lyapunov methods
Nonlinear output feedback
Stability of nonlinear systems

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10.1109/LCSYS.2022.3185655

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abstract = "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.",

keywords = "Lyapunov methods, Nonlinear output feedback, Stability of nonlinear systems",

author = "Pablo Borja and Santina, \{Cosimo Della\} and Azita Dabiri",

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AU - Santina, Cosimo Della

AU - Dabiri, Azita

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 - https://www.scopus.com/pages/publications/85133671163

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M3 - Article

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SP - 3433

EP - 3438

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

ER -

On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

Abstract

Keywords

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