论文标题
一个基于虚拟收缩的控制器的家族，用于跟踪灵活 - 港口 - 哈米尔顿港机器人：理论和实验
A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
论文作者
论文摘要
在这项工作中，我们提出了一种建设性的方法，可以设计一个基于虚拟收缩的控制器家族，该家族在港口 - 哈米尔顿港（PH）框架中求解灵活接头机器人（FJR）的标准轨迹跟踪问题。所提出的称为基于虚拟收缩控制（V-CBC）的设计方法结合了虚拟控制系统的概念和收缩分析。结果表明，在势能匹配条件下，闭环虚拟系统是合同的，并且可以保证指数融合到预定义的轨迹。此外，闭环虚拟系统表现出诸如结构保存，差异化和（增量）被动图的存在之类的属性。
In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots (FJRs) in the port-Hamiltonian (pH) framework. The proposed design method, called virtual contraction based control (v-CBC), combines the concepts of virtual control systems and contraction analysis. It is shown that under potential energy matching conditions, the closed-loop virtual system is contractive and exponential convergence to a predefined trajectory is guaranteed. Moreover, the closed-loop virtual system exhibits properties such as structure preservation, differential passivity and the existence of (incrementally) passive maps.
