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., 3-Mar-2020, In : International Journal of Robust and Nonlinear Control. 20 p.

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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 (FJRs) in the port-Hamiltonian (pH) framework. The proposed design method,
called virtual contraction based control (v-CBC), 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.
Original languageEnglish
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Early online date3-Mar-2020
Publication statusE-pub ahead of print - 3-Mar-2020

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