Energy-Based Trajectory Tracking Control of a Six-DOF Robotic Manipulator Using the Port-Hamiltonian Framework

Authors

Zhiheng Lin, Junqi Wang, Xindan Hu, Tong Wang, Weijun Zhou

Abstract

Structure-preserving trajectory tracking control for a six-degree-of-freedom robotic manipulator is developed within the port-Hamiltonian framework. Error Hamiltonian is constructed by incorporating configuration and momentum tracking errors into the system energy. Based on this formulation, a momentum-based tracking controller with feedforward compensation and damping injection is derived without coordinate transformations or matching conditions. A disturbance estimator is further introduced to compensate unknown external torques. Energy-based analysis proves nominal closed-loop stability and uniform ultimate boundedness in the presence of estimation errors. Simulation results on a full rigid-body manipulator demonstrate accurate trajectory tracking under coupled and high-speed joint motions.

Citation

• Journal: Machines
• Year: 2026
• Volume: 14
• Issue: 4
• Pages: 406
• Publisher: MDPI AG
• DOI: 10.3390/machines14040406

BibTeX

@article{Lin_2026,
  title={{Energy-Based Trajectory Tracking Control of a Six-DOF Robotic Manipulator Using the Port-Hamiltonian Framework}},
  volume={14},
  ISSN={2075-1702},
  DOI={10.3390/machines14040406},
  number={4},
  journal={Machines},
  publisher={MDPI AG},
  author={Lin, Zhiheng and Wang, Junqi and Hu, Xindan and Wang, Tong and Zhou, Weijun},
  year={2026},
  pages={406}
}

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