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

L.P. Borja Rosales; C. Della Santina; A. Dabiri

doi:10.1109/LCSYS.2022.3185655

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

L.P. Borja Rosales^*, C. Della Santina, A. Dabiri

^*Corresponding author for this work

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

1 Citation (Scopus)

17 Downloads (Pure)

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
Journal	IEEE Control Systems Letters
Volume	6
DOIs	https://doi.org/10.1109/LCSYS.2022.3185655
Publication status	Published - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Stability of nonlinear systems
Lyapunov methods
nonlinear output feedback

Access to Document

10.1109/LCSYS.2022.3185655

On_the_Role_of_Coupled_Damping_and_Gyroscopic_Forces_in_the_Stability_and_Performance_of_Mechanical_SystemsFinal published version, 1.16 MB

Cite this

@article{2049d15da1d94915935f7724429564ac,

title = "On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems",

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

author = "{Borja Rosales}, L.P. and {Della Santina}, C. and A. Dabiri",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.",

year = "2022",

doi = "10.1109/LCSYS.2022.3185655",

language = "English",

volume = "6",

pages = "3433--3438",

journal = "IEEE Control Systems Letters",

issn = "2475-1456",

publisher = "IEEE",

}

TY - JOUR

T1 - On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

AU - Borja Rosales, L.P.

AU - Della Santina, C.

AU - Dabiri, A.

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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 - Stability of nonlinear systems

KW - Lyapunov methods

KW - nonlinear output feedback

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

SN - 2475-1456

VL - 6

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

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this