文章基本信息

标题：Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots
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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：2018
卷号：51
期号：3
页码：169-174
DOI：10.1016/j.ifacol.2018.06.048
语种：English
出版社：Elsevier
摘要：AbstractBased 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 two degrees of freedom FJR are presented to show the performance of a controller obtained with this approach.
关键词：KeywordsDifferential passivitycontraction analysisvirtual systemsport-Hamiltonian systemsflexible-joints robots.