Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework
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Publication:2139383
DOI10.1016/J.AUTOMATICA.2022.110275zbMATH Open1491.93053OpenAlexW4223424930WikidataQ114204830 ScholiaQ114204830MaRDI QIDQ2139383FDOQ2139383
Authors: 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
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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 (5)
- Neural network quaternion-based controller for port-Hamiltonian system
- A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
- Stability of port-Hamiltonian systems with mixed time delays subject to input saturation
- Trajectory tracking for a class of contractive port Hamiltonian systems
- Output feedback for contraction of nonlinear singularly perturbed systems
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