On Contractive Port-Hamiltonian Systems With State-Modulated Interconnection and Damping Matrices

Authors

Abolfazl Yaghmaei, Mohammad Javad Yazdanpanah

Abstract

In this article, for the input-state-output class of port-Hamiltonian systems, the contraction property is characterized. Recently, some results on contraction of port-Hamiltonian systems with constant interconnection and damping matrices have been published. This article extends these results for state-modulated interconnection and damping matrices. In this regard, the powerful method of interconnection and damping assignment passivity-based control is extended for tracking designs. Controller design for underactuated mechanical systems with nonconstant mass matrices usually leads to nonconstant (state-modulated) interconnection and damping matrices for the closed-loop system. Therefore, the result of this article can be used for tracking controller design for underactuated mechanical systems. To show the potency of proposed results, a tracking controller for cart–pole system is designed and simulated.

Citation

• Journal: IEEE Transactions on Automatic Control
• Year: 2024
• Volume: 69
• Issue: 1
• Pages: 622–628
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tac.2023.3273394

BibTeX

@article{Yaghmaei_2024,
  title={{On Contractive Port-Hamiltonian Systems With State-Modulated Interconnection and Damping Matrices}},
  volume={69},
  ISSN={2334-3303},
  DOI={10.1109/tac.2023.3273394},
  number={1},
  journal={IEEE Transactions on Automatic Control},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Yaghmaei, Abolfazl and Yazdanpanah, Mohammad Javad},
  year={2024},
  pages={622--628}
}

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