Publication

A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: Theory and experiments

Reyes Báez, R., van der Schaft, A., Jayawardhana, B. & Pan, L., 25-May-2020, In : International Journal of Robust and Nonlinear Control. 30, 8, p. 3269-3295 27 p.

Research output: Contribution to journalArticleAcademicpeer-review

APA

Reyes Báez, R., van der Schaft, A., Jayawardhana, B., & Pan, L. (2020). A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: Theory and experiments. International Journal of Robust and Nonlinear Control, 30(8), 3269-3295. https://doi.org/10.1002/rnc.4929

Author

Reyes Báez, Rodolfo ; van der Schaft, Arjan ; Jayawardhana, Bayu ; Pan, Le. / A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots : Theory and experiments. In: International Journal of Robust and Nonlinear Control. 2020 ; Vol. 30, No. 8. pp. 3269-3295.

Harvard

Reyes Báez, R, van der Schaft, A, Jayawardhana, B & Pan, L 2020, 'A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: Theory and experiments', International Journal of Robust and Nonlinear Control, vol. 30, no. 8, pp. 3269-3295. https://doi.org/10.1002/rnc.4929

Standard

A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots : Theory and experiments. / Reyes Báez, Rodolfo; van der Schaft, Arjan; Jayawardhana, Bayu; Pan, Le.

In: International Journal of Robust and Nonlinear Control, Vol. 30, No. 8, 25.05.2020, p. 3269-3295.

Research output: Contribution to journalArticleAcademicpeer-review

Vancouver

Reyes Báez R, van der Schaft A, Jayawardhana B, Pan L. A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: Theory and experiments. International Journal of Robust and Nonlinear Control. 2020 May 25;30(8):3269-3295. https://doi.org/10.1002/rnc.4929


BibTeX

@article{cf0adc3cf8ea45a5990d4b90fcfb603c,
title = "A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: Theory and experiments",
abstract = "In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots in the port-Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed-loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed-loop virtual system exhibits properties such as structure preservation, differential passivity, and the existence of (incrementally) passive maps. The method is later applied to a planar RR robot, and two nonlinear tracking control schemes in the developed controllers family are designed using different contraction analysis approaches. Experiments confirm the theoretical results for each controller.",
keywords = "contraction, flexible-joints robots, port-Hamiltonian systems, tracking control, virtual control systems, PASSIVITY-BASED CONTROL, IMPEDANCE CONTROL, SYSTEMS, INTERCONNECTION, MANIPULATORS, FRAMEWORK, POSITION",
author = "{Reyes B{\'a}ez}, Rodolfo and {van der Schaft}, Arjan and Bayu Jayawardhana and Le Pan",
year = "2020",
month = may,
day = "25",
doi = "10.1002/rnc.4929",
language = "English",
volume = "30",
pages = "3269--3295",
journal = "International Journal of Robust and Nonlinear Control",
issn = "1049-8923",
publisher = "Wiley",
number = "8",

}

RIS

TY - JOUR

T1 - A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots

T2 - Theory and experiments

AU - Reyes Báez, Rodolfo

AU - van der Schaft, Arjan

AU - Jayawardhana, Bayu

AU - Pan, Le

PY - 2020/5/25

Y1 - 2020/5/25

N2 - In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots in the port-Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed-loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed-loop virtual system exhibits properties such as structure preservation, differential passivity, and the existence of (incrementally) passive maps. The method is later applied to a planar RR robot, and two nonlinear tracking control schemes in the developed controllers family are designed using different contraction analysis approaches. Experiments confirm the theoretical results for each controller.

AB - In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots in the port-Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed-loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed-loop virtual system exhibits properties such as structure preservation, differential passivity, and the existence of (incrementally) passive maps. The method is later applied to a planar RR robot, and two nonlinear tracking control schemes in the developed controllers family are designed using different contraction analysis approaches. Experiments confirm the theoretical results for each controller.

KW - contraction

KW - flexible-joints robots

KW - port-Hamiltonian systems

KW - tracking control

KW - virtual control systems

KW - PASSIVITY-BASED CONTROL

KW - IMPEDANCE CONTROL

KW - SYSTEMS

KW - INTERCONNECTION

KW - MANIPULATORS

KW - FRAMEWORK

KW - POSITION

UR - http://dx.doi.org/10.1002/rnc.4929

U2 - 10.1002/rnc.4929

DO - 10.1002/rnc.4929

M3 - Article

VL - 30

SP - 3269

EP - 3295

JO - International Journal of Robust and Nonlinear Control

JF - International Journal of Robust and Nonlinear Control

SN - 1049-8923

IS - 8

ER -

ID: 116927252