Passivity-based control incorporating trajectory planning for a variable-reluctance finger gripper

J.M. Yang, X. Jin, J. Wu, Chow Norbert Cheung, K.K.C. Chan

Research output: Journal article publicationJournal articleAcademic researchpeer-review


A novel two-finger gripper using variable-reluctance (VR) technology is investigated in this paper. Its non-linear characteristics are explored through theoretical analysis and experiments. Based on the experimental model, a passivity-based controller is designed. With energy modification and damping injection, the robustness to variable inductance is verified by simulations and experiments. Through the incorporation of passivity-based control (PBC) with differential flatness, trajectory planning is realized and ideal performance is achieved.
Original languageEnglish
Pages (from-to)99-109
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering
Issue number2
Publication statusPublished - 2004


  • Finger gripper
  • Variable reluctance
  • Passivity-based control
  • Differential flatness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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