Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction

In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attrac...

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Bibliographic Details
Main Authors Reyes-Báez, Rodolfo, van der Schaft, Arjan, Jayawardhana, Bayu
Format Journal Article
LanguageEnglish
Published 22.11.2016
Subjects
Computer Science - Systems and Control
Mathematics - Optimization and Control
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Summary:In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attractive by making the corresponding error system partially contracting. Finally, we present numerical simulation results where a SCARA robot is commanded by our proposed tracking control law.
DOI:10.48550/arxiv.1611.07302