Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework

We present a trajectory tracking control design method for class of mechanical systems in the port-Hamiltonian framework. The proposed solution is based on virtual contractivity-based (v-CBC) method, which employs notions and contractivity. This approach leads to family asymptotic controllers that are not limited those preserve pH structure closed-loop system nor require an intermediate change coordinates. Nevertheless, preservation other properties (e.g., passivity) possible under sufficient conditions. performance v-CBC scheme experimentally evaluated planar robot two degrees freedom (DoF).