On potential function design for path following control of port-Hamiltonian systems

Authors

Yuki Okura, Kenji Fujimoto, Akio Saito, Hidetoshi Ikeda

Abstract

This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is so difficult to find a potential function for a complex path. Inspired by the results of existing trajectory tracking control of port-Hamiltonian systems, we propose an improved path following control method. By solving partial differential equations, a potential function for path following control is acquired.

Citation

• Journal: 2017 IEEE 56th Annual Conference on Decision and Control (CDC)
• Year: 2017
• Volume:
• Issue:
• Pages: 2569–2574
• Publisher: IEEE
• DOI: 10.1109/cdc.2017.8264031

BibTeX

@inproceedings{Okura_2017,
  title={{On potential function design for path following control of port-Hamiltonian systems}},
  DOI={10.1109/cdc.2017.8264031},
  booktitle={{2017 IEEE 56th Annual Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Okura, Yuki and Fujimoto, Kenji and Saito, Akio and Ikeda, Hidetoshi},
  year={2017},
  pages={2569--2574}
}

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References

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