Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction [article]

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
2017 arXiv   pre-print
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 control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attractive by making the corresponding error system partially contracting. Finally, we present numerical simulation results where a SCARA robot is commanded by our proposed tracking control law.
arXiv:1611.07302v4 fatcat:6za4zxay2jdexa3dazrz2exicu