2020/02/04 by Rodolfo Reyes‐Báez, Reyes-Báez, Rodolfo, Arjan van der Schaft +5
Biochemistry, Genetics and Molecular Biology · Engineering · #ATP Synthase and ATPases Research #Control and Stability of Dynamical Systems #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2002.01542
openalex publication_date 2020/02/04 · openalex created_date 2020/02/14 · openalex updated_date 2026/07/28
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.