Dead-zone compensation via passivity-based control for a class of mechanical systems

Abstract

This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a nonlinearity. Then, we propose an energy and damping injection approach — based on the PI-PBC technique — that compensates for the dead-zone. Moreover, we provide an analysis of the performance of the proposed controller near the equilibrium. We conclude this paper by experimentally validating the results on a two degrees-of-freedom planar manipulator.