On Tracking Control of Rigid-Joint Robots With Only Position Measurements

2012/07/19 by Daniel A. Dirksz, Jacquelien M.A. Scherpen, Jacquelien M. A. Scherpen · 1 citation
Biochemistry, Genetics and Molecular Biology · Engineering · #ATP Synthase and ATPases Research #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems

paper · doi:10.1109/tcst.2012.2204886

openalex publication_date 2012/07/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29

Abstract

In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.

Cited by

• Stabilization of physical systems via saturated controllers with only partial state measurements

Related

• Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction
• A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
• Observer-less Output Feedback Global Tracking Control of Lossless Lagrangian Systems
• Torque Control with Joints Position and Velocity Limits Avoidance
• Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots