Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements

In this letter, we propose a passivity-based control technique, where the resulting controllers can be interpreted as lag-compensators for nonlinear mechanical systems described in port-Hamiltonian framework. The proposed methodology considers dynamic controller such that relationship between input and error signal of interest expressed terms transfer function. Accordingly, gains tuned through frequency analysis approach. Additionally, two practical advantages are they do not require velocity measurements, cope with saturation. We illustrate applicability stabilization planar manipulator, experimental results corroborate effectiveness technique.