most citedA family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments

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eess.SY2020★ 1 cited

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…