摘要：AbstractWe propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique for linear viscous damping identification to improve the accuracy of the selected control technique, and (ii) we implement a passivity-based controller to stabilize and reduce the oscillations by selecting the control parameters properly in accordance with the identified damping. Moreover, we provide theoretical analysis for a particular passivity-based control approach on its effectiveness for reducing such oscillations. Also, we validate the methodology by implementing it experimentally in a planar manipulator.
