文章基本信息

标题：Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis
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作者：Rodolfo Reyes-Báez ; Arjan van der Schaft ; Bayu Jayawardhana 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：8256-8261
DOI：10.1016/j.ifacol.2017.08.1395
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we propose a trajectory tracking controller for fully-actuated port-Hamiltonian (pH) mechanical systems, which is based on recent advances in contraction analysis and differential Lyapunov theory. The tracking problem is solved by defining a suitable invariant sliding manifold which provides a desired steady state behavior. The manifold is then made attractive via contraction techniques. Finally, we present numerical simulation results where a SCARA robot is commanded by the proposed tracking control law.
关键词：KeywordsTrajectory tracking controlport-Hamiltonian systemssliding manifolddifferential Lyapunov theorycontraction analysis