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

No available

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}
}

Download the bib file

References

• Nielsen, C. & Maggiore, M. Output stabilization and maneuver regulation: A geometric approach. Systems & Control Letters 55, 418–427 (2006) – 10.1016/j.sysconle.2005.09.006
• Hladio, A., Nielsen, C. & Wang, D. Path Following for a Class of Mechanical Systems. IEEE Trans. Contr. Syst. Technol. 21, 2380–2390 (2013) – 10.1109/tcst.2012.2223470
• Akhtar, A., Nielsen, C. & Waslander, S. L. Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Trans. Robot. 31, 269–279 (2015) – 10.1109/tro.2015.2395711
• Aguiar, A. P. & Hespanha, J. P. Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty. IEEE Trans. Automat. Contr. 52, 1362–1379 (2007) – 10.1109/tac.2007.902731
• Nakamura, H. Global Nonsmooth Control Lyapunov Function Design for Path-Following Problem via Minimum Projection Method. IFAC-PapersOnLine 49, 600–605 (2016) – 10.1016/j.ifacol.2016.10.231
• Salisbury, J. Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes (1980) doi:10.1109/cdc.1980.272026 – 10.1109/cdc.1980.272026
• Hogan, N. Impedance Control: An Approach to Manipulation. 1984 American Control Conference (1984) doi:10.23919/acc.1984.4788393 – 10.23919/acc.1984.4788393
• Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part I. Geometry and robustness. IEEE Trans. Automat. Contr. 46, 1346–1359 (2001) – 10.1109/9.948463
• Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part II. Application to contour following. IEEE Trans. Automat. Contr. 46, 1360–1371 (2001) – 10.1109/9.948464
• Duindam, V. & Stramigioli, S. Port-Based Asymptotic Curve Tracking for Mechanical Systems. European Journal of Control 10, 411–420 (2004) – 10.3166/ejc.10.411-420
• Taniguchi, M. & Fujimoto, K. Asymptotic path following and velocity control of port-Hamiltonian systems. 2009 European Control Conference (ECC) 236–241 (2009) doi:10.23919/ecc.2009.7074410 – 10.23919/ecc.2009.7074410
• Slotine, J.-J. E. & Li, W. Composite adaptive control of robot manipulators. Automatica 25, 509–519 (1989) – 10.1016/0005-1098(89)90094-0
• Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3 – 10.1007/978-1-4471-3603-3
• Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003) – 10.1016/j.automatica.2003.07.005
• Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations. European Journal of Control 10, 421–431 (2004) – 10.3166/ejc.10.421-431
• Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001) – 10.1016/s0167-6911(00)00091-8
• Schaft, A. L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences (Springer Berlin Heidelberg, 1996). doi:10.1007/3-540-76074-1 – 10.1007/3-540-76074-1
• Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994) – 10.1016/0034-4877(94)90038-8
• Maschke, B. M., van der Schaft, A. J. & Breedveld, P. C. An intrinsic Hamiltonian formulation of the dynamics of LC-circuits. IEEE Trans. Circuits Syst. I 42, 73–82 (1995) – 10.1109/81.372847
• Isidori, A. Nonlinear Control Systems. Communications and Control Engineering (Springer London, 1995). doi:10.1007/978-1-84628-615-5 – 10.1007/978-1-84628-615-5