On trajectory tracking control of simple port-Hamiltonian systems based on passivity based sliding mode control

Authors

N. Sakata, K. Fujimoto, I. Maruta

Abstract

In this work, the passivity-based sliding mode control technique is applied to trajectory tracking control problems. This method unifies two methods, sliding mode control and passivity-based control, and has the advantages of both control methods. This paper proposes a pair of a pre-coordinate transformation and a state feedback so that we obtain a desired error port-Hamiltonian system that describes the dynamics of the tracking error. This approach enables us to obtain appropriate design parameters satisfying a kind of matching condition to realize sliding mode control with a Lyapunov function. The effectiveness of the proposed method is demonstrated by a numerical simulation.

Keywords

Passivity-based control; Nonlinear control; Robust Control

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 19
• Pages: 38–43
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.11.052
• Note: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021- Berlin, Germany, 11-13 October 2021

BibTeX

@article{Sakata_2021,
  title={{On trajectory tracking control of simple port-Hamiltonian systems based on passivity based sliding mode control}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.11.052},
  number={19},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Sakata, N. and Fujimoto, K. and Maruta, I.},
  year={2021},
  pages={38--43}
}

Download the bib file

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