  In this paper, we propose a novel trajectory tracking controller for
fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on
recent advances in contraction-based control theory. Our proposed controller
renders a desired sliding manifold (where the reference trajectory lies)
attractive by making the corresponding error system partially contracting.
Finally, we present numerical simulation results where a SCARA robot is
commanded by our proposed tracking control law.
