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

Journal article (2022)

Authors

L.P. Borja Rosales Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Deutsches Zentrum für Luft- und Raumfahrt (DLR)
A. Dabiri Team Azita Dabiri - Mechanical, Maritime and Materials Engineering
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 L.P. Borja Rosales, C. Della Santina, A. Dabiri
DOI: https://doi.org/10.1109/LCSYS.2022.3185655
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

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.

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