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
Link to publication in University of Groningen/UMCG research database
Citation for published version (APA):
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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Virtual Contraction and Passivity based
Control of Nonlinear Mechanical Systems
Trajectory Tracking and Group Coordination
RODOLFO REYES-B ´
AEZ
VIR
TUAL
CONTRA
CTION
AND
P
ASSIVITY
BASED
CO
NTR
OL
OF
MECHANICAL
SYSTEMS
R.
REYES-B
´AEZ
In this dissertation control methods for solving the trajectory tracking and group coordination prob-lems of nonlinear mechanical systems are proposed. These design methods are based on the concepts of virtual systems, contraction analysis and passiv-ity. Several practical cases are considered in the present work, the tracking control design in the port-Hamiltonian (pH) framework of fully-actuated mechanical systems, flexible-joints robots and ma-rine craft; and the group coordination of net-worked mechanical systems in the Euler-Lagrange (EL) framework. Both energy based modeling ap-proaches are suitable for control design purposes, since these allow to have a clear physical under-standing of the control schemes. The performance of the closed-loop fully-actuated system and of flex-ible joint robot is evaluated experimentally on a robot platform of two degrees of freedom; whereas the performance of the closed-loop marine craft and of the network of mechanical systems is evaluated via simulations.
