Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction
It addresses the problem of trajectory tracking for a class of mechanical systems, but the contribution is incremental as it combines existing contraction and sliding manifold ideas.
The paper proposes a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian systems using sliding manifolds and contraction theory, and demonstrates its effectiveness via simulation on a SCARA robot.
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.