Potential Function Design for Path Following Control of Port-Hamiltonian Systems via Generalized Canonical Transformations

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 difficult to find such a function for a complex path, since it has to satisfy additional several constraints. Inspired by the results of the existing trajectory tracking control method of port-Hamiltonian systems, we propose an improved path following control method in which a potential function for path following control is acquired by solving simple partial differential equations.

Citation

• Journal: Transactions of the Society of Instrument and Control Engineers
• Year: 2018
• Volume: 54
• Issue: 11
• Pages: 812–820
• Publisher: The Society of Instrument and Control Engineers
• DOI: 10.9746/sicetr.54.812

BibTeX

@article{OKURA_2018,
  title={{Potential Function Design for Path Following Control of Port-Hamiltonian Systems via Generalized Canonical Transformations}},
  volume={54},
  ISSN={1883-8189},
  DOI={10.9746/sicetr.54.812},
  number={11},
  journal={Transactions of the Society of Instrument and Control Engineers},
  publisher={The Society of Instrument and Control Engineers},
  author={OKURA, Yuki and FUJIMOTO, Kenji and SAITO, Akio and IKEDA, Hidetoshi},
  year={2018},
  pages={812--820}
}

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