Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots

Abstract

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual systems and of differential passivity. We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-Hamiltonian (pH) framework. Simulations on a single flexible joint link are presented for showing the performance of a controller obtained with this approach.

arXiv comment8 pages, 2 figures, submitted to Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control 2018