University of Groningen
Virtual contraction and passivity based control of nonlinear mechanical systems Reyes Báez, Rodolfo
DOI:
10.33612/diss.96171118
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Publication date: 2019
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Reyes Báez, R. (2019). Virtual contraction and passivity based control of nonlinear mechanical systems: trajectory tracking and group coordination. University of Groningen. https://doi.org/10.33612/diss.96171118
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Stellingen
behorende bij het proefschrift
Virtual Contraction and Passivity based Control of
Nonlinear Mechanical Systems
van
Rodolfo Reyes-B´aez
1. Virtual contraction-based techniques are a suitable approach to convergence analysis and control design of mechanical system. Chapters 2, 4, 5 and 6. 2. The target dynamics of structure preserving control design methods is a
vir-tual system for the open-loop dynamics. Chapters 2, 3, 4, 5, and 6.
3. Conservation laws in the configuration manifold of a mechanical system are key properties for the construction of associated virtual systems with a clear physical interpretation in terms of energy. Chapter 3.
4. The application of virtual contraction-based control (v-CBC) methods to me-chanical systems, as discussed in this dissertation, results in a large class of nonlinear control schemes that solve the tracking control problem and ex-hibit monotonicity properties. Chapters 4, 5 and 6.
5. Structure preserving v-CBC schemes of the mechanical systems considered in this dissertation are equivalent to the state-feedback algorithms obtained via IDA-PBC, but without partial momentum linearization. Moreover, these are the port-Hamiltonian counterpart of their corresponding Slotine-Li con-trollers in the Euler-Lagrange framework. Chapters 4, 5 and 6.
6. A flexible-joints robot manipulator in closed-loop with the developed family of v-CBC schemes can be decomposed as the feedback interconnection of the differentially passive joints dynamics with the differentially passive motors dynamics. Chapter 5.
7. The coordination control problem of networked mechanical systems can be solved by means of passivity preserving interconnection of target virtual mechanical systems and artificial spring systems. Chapter 7.
8. Never fall into the temptation to lock the specialist in their specialization. - C´edric Villani. (Translated from Spanish) 9. Networking is working!
