A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments

  title={A family of virtual contraction based controllers for tracking of flexible‐joints port‐Hamiltonian robots: Theory and experiments},
  author={Rodolfo Reyes-B'aez and Arjan van der Schaft and Bayu Jayawardhana and Le Pan},
  journal={International Journal of Robust and Nonlinear Control},
  pages={3269 - 3295}
In this work, we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible‐joint robots in the port‐Hamiltonian framework. The proposed design method, called virtual contraction based control, combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed‐loop virtual system is contractive and exponential convergence… 
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