Virtual Differential Passivity Based Control for Tracking of Flexible-Joints Robots (I)

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
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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.
Original languageEnglish
Title of host publicationProceedings of the 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
EditorsHéctor Ramírez
PublisherElsevier
Pages169-174
Volume51, Issue 3
DOIs
Publication statusPublished - 2018
Event6th IFAC Workshop on Lagrangian and Hamiltonian : Methods for Nonlinear Control LHMNC 2018
- Universidad Técnica Federico Santa María, Valparaíso, Chile
Duration: 1-May-20184-May-2018

Conference

Conference6th IFAC Workshop on Lagrangian and Hamiltonian : Methods for Nonlinear Control LHMNC 2018
Country/TerritoryChile
City Valparaíso
Period01/05/201804/05/2018

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