Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework

Authors

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana

Abstract

We present a trajectory tracking control design method for a class of mechanical systems in the port-Hamiltonian framework. The proposed solution is based on the virtual contractivity-based control (v-CBC) method, which employs the notions of virtual systems and of contractivity. This approach leads to a family of asymptotic tracking controllers that are not limited to those that preserve the pH structure of the closed-loop system nor require an intermediate change of coordinates. Nevertheless, structure preservation and other properties (e.g., passivity) are possible under sufficient conditions. The performance of the proposed v-CBC scheme is experimentally evaluated on a planar robot of two degrees of freedom (DoF).

Keywords

Port-Hamiltonian systems; Trajectory tracking; Virtual systems; Contraction analysis; Mechanical systems

Citation

• Journal: Automatica
• Year: 2022
• Volume: 141
• Issue:
• Pages: 110275
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2022.110275

BibTeX

@article{Reyes_B_ez_2022,
  title={{Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework}},
  volume={141},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2022.110275},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Reyes-Báez, Rodolfo and van der Schaft, Arjan and Jayawardhana, Bayu},
  year={2022},
  pages={110275}
}

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