Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots

TL;DR

This paper introduces a novel control method called virtual differential passivity based control (v-dPBC) for flexible-joint robots, leveraging contraction methods and port-Hamiltonian systems to improve tracking performance.

Contribution

The paper develops a new constructive control design technique combining virtual systems and differential passivity, specifically applied to flexible-joint robots in the port-Hamiltonian framework.

Findings

Successful simulation results on a single flexible joint link.

Demonstrated improved tracking control performance.

Validated the effectiveness of v-dPBC in FJRs.

Abstract

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.