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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| Main Authors | , , |
|---|---|
| Format | Journal Article |
| Language | English |
| Published |
22.11.2016
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| Subjects | |
| Online Access | Get full text |
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| Abstract | 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. |
|---|---|
| AbstractList | 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. |
| Author | Jayawardhana, Bayu Reyes-Báez, Rodolfo van der Schaft, Arjan |
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| BackLink | https://doi.org/10.48550/arXiv.1611.07302$$DView paper in arXiv |
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| Snippet | In this paper, we propose a novel trajectory tracking controller for
fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on
recent advances... |
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| SubjectTerms | Computer Science - Systems and Control Mathematics - Optimization and Control |
| Title | Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction |
| URI | https://arxiv.org/abs/1611.07302 |
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