On contraction of time-varying port-Hamiltonian systems

Authors

Nikita Barabanov, Romeo Ortega, Anton Pyrkin

Abstract

In this paper we identify classes of port-Hamiltonian systems which are contracting. Our motivation in this study is two-fold, on one hand, it is well-known that many physical systems are described by port-Hamiltonian models. On the other hand, contraction is a fundamental property that has been efficiently exploited for the design of observers, as well as tracking, adaptive and multi-agent controllers for nonlinear systems. The conditions for contraction are given in terms of feasibility of linear matrix inequalities, hence their verification is computationally efficient.

Keywords

Nonlinear systems; Contraction theory; port-Hamiltonian systems

Citation

Journal: Systems & Control Letters
Year: 2019
Volume: 133
Issue:
Pages: 104545
Publisher: Elsevier BV
DOI: 10.1016/j.sysconle.2019.104545

BibTeX

@article{Barabanov_2019,
  title={{On contraction of time-varying port-Hamiltonian systems}},
  volume={133},
  ISSN={0167-6911},
  DOI={10.1016/j.sysconle.2019.104545},
  journal={Systems &amp; Control Letters},
  publisher={Elsevier BV},
  author={Barabanov, Nikita and Ortega, Romeo and Pyrkin, Anton},
  year={2019},
  pages={104545}
}

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