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

Rodolfo Reyes Báez*, Arjan van der Schaft, Bayu Jayawardhana, Le Pan

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

2 Citations (Scopus)
17 Downloads (Pure)

Abstract

In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots in the port-Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed-loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed-loop virtual system exhibits properties such as structure preservation, differential passivity, and the existence of (incrementally) passive maps. The method is later applied to a planar RR robot, and two nonlinear tracking control schemes in the developed controllers family are designed using different contraction analysis approaches. Experiments confirm the theoretical results for each controller.

Original languageEnglish
Pages (from-to)3269-3295
Number of pages27
JournalInternational Journal of Robust and Nonlinear Control
Volume30
Issue number8
Early online date3-Mar-2020
DOIs
Publication statusPublished - 25-May-2020

Keywords

  • contraction
  • flexible-joints robots
  • port-Hamiltonian systems
  • tracking control
  • virtual control systems
  • PASSIVITY-BASED CONTROL
  • IMPEDANCE CONTROL
  • SYSTEMS
  • INTERCONNECTION
  • MANIPULATORS
  • FRAMEWORK
  • POSITION

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