Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots
For control engineers working on flexible-joint robots, this method offers a constructive design approach combining virtual systems and differential passivity, but it is incremental as it applies existing concepts to a specific problem.
The paper introduces a virtual differential passivity-based control (v-dPBC) technique for tracking control of flexible-joint robots, demonstrating its performance through simulations on a single flexible joint link.
Based 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 single flexible joint link are presented for showing the performance of a controller obtained with this approach.