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

DOI10.1002/rnc.4929zbMath1466.93112arXiv2002.01542OpenAlexW3009036410MaRDI QIDQ4990535

Rodolfo Reyes-Báez, Bayu Jayawardhana, Le Pan, Arjan J. Van der Schaft

Publication date: 31 May 2021

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2002.01542

zbMATH Keywords

contractiontracking controlport-Hamiltonian systemsflexible-joints robotsvirtual control systems

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Networked control (93B70)

Related Items (3)

Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework ⋮ Neural‐based adaptive event‐triggered tracking control for flexible‐joint robots with random noises ⋮ Nonlinear parameter‐varying state‐feedback design for a gyroscope using virtual control contraction metrics

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