Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations

Canonical transformations used to derive

Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

✍ Juan Ignacio Mulero-Martínez 📂 Article 📅 2008 🏛 Elsevier Science 🌐 English ⚖ 928 KB

This paper addresses the problem of deriving control laws for robot manipulators in the framework of port-controlled Hamiltonian systems via canonical transformations and passivity-based control. The control design is focused on the presentation of a new energy-shaping methodology for tracking contr