Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots

Authors

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

Abstract

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual systems and of differential passivity. We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-Hamiltonian (pH) framework. Simulations on a two degrees of freedom FJR are presented to show the performance of a controller obtained with this approach.

Keywords

Differential passivity; contraction analysis; virtual systems; port-Hamiltonian systems; flexible-joints robots.

Citation

• Journal: IFAC-PapersOnLine
• Year: 2018
• Volume: 51
• Issue: 3
• Pages: 169–174
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2018.06.048
• Note: 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

BibTeX

@article{Reyes_B_ez_2018,
  title={{Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots}},
  volume={51},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2018.06.048},
  number={3},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Reyes-Báez, Rodolfo and van der Schaft, Arjan and Jayawardhana, Bayu},
  year={2018},
  pages={169--174}
}

Download the bib file

References

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