3 citations · 4 across the 3 of their papers we have counts for
3 papers
A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana +1
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 robo…
Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach
Rodolfo Reyes-Báez, Alejandro Donaire, Arjan van der Schaft +2
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dP…
Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction
Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
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…