Asymptotic Path Following Control for Port-Hamiltonian Systems

Authors

Abstract

This paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since portHamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, a numerical simulation of a rolling coin exhibits the effectiveness of the proposed method.

Citation

Journal: Transactions of the Society of Instrument and Control Engineers
Year: 2010
Volume: 46
Issue: 2
Pages: 83–90
Publisher: The Society of Instrument and Control Engineers
DOI: 10.9746/sicetr.46.83

BibTeX

@article{FUJIMOTO_2010,
  title={{Asymptotic Path Following Control for Port-Hamiltonian Systems}},
  volume={46},
  ISSN={1883-8189},
  DOI={10.9746/sicetr.46.83},
  number={2},
  journal={Transactions of the Society of Instrument and Control Engineers},
  publisher={The Society of Instrument and Control Engineers},
  author={FUJIMOTO, Kenji and TANIGUCHI, Mitsuru},
  year={2010},
  pages={83--90}
}

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References

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