Port-based asymptotic curve tracking for mechanical systems

Vincent Duindam*, Stefano Stramigioli

*Corresponding author for this work

    Research output: Contribution to journalArticleAcademicpeer-review

    51 Citations (Scopus)


    We examine the control problem of curve-tracking for a fully actuated mechanical system. Using a coordinate transformation on the momentum variables, we split the kinetic energy of the system in a desired and an undesired part, and then design an (intrinsically passive) controller as an interconnection of port-Hamiltonian subsystems, in such a way that asymptotic convergence to the desired curve is obtained. We illustrate the performance in a simulation.

    Original languageEnglish
    Pages (from-to)411-420
    Number of pages10
    JournalEuropean journal of control
    Issue number5
    Publication statusPublished - 1 Jan 2004


    • Hamiltonian Control Systems
    • Mechanical Systems
    • Nonlinear Control


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