Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework

DOI10.1016/J.AUTOMATICA.2022.110275zbMATH Open1491.93053OpenAlexW4223424930WikidataQ114204830 ScholiaQ114204830MaRDI QIDQ2139383FDOQ2139383

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

Publication date: 17 May 2022

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2022.110275

zbMATH Keywords

mechanical systemstrajectory trackingvirtual systemsport-Hamiltonian systemscontraction analysis

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Networked control (93B70)

Cites Work

• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• A Differential Lyapunov Framework for Contraction Analysis
• A Lyapunov approach to incremental stability properties
• Backstepping Design for Incremental Stability
• On contraction analysis for non-linear systems
• On partial contraction analysis for coupled nonlinear oscillators
• Port-Hamiltonian Systems Theory: An Introductory Overview
• \(L_2\)-gain and passivity techniques in nonlinear control
• Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems
• Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.
• Passivity of nonlinearity incremental systems: application to PI stabilization of nonlinear RLC circuits
• Contractive Systems with Inputs
• A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback
• Trajectory tracking for a class of contractive port Hamiltonian systems
• New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control
• Nonlinear Eigenvalue Approach to Differential Riccati Equations for Contraction Analysis
• A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments

Cited In (3)

• Neural network quaternion-based controller for port-Hamiltonian system
• Stability of port-Hamiltonian systems with mixed time delays subject to input saturation
• Output feedback for contraction of nonlinear singularly perturbed systems

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