Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations

Authors

Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie

Abstract

This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity-based control. The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. After obtaining the error system, tracking control of the original system can be achieved by stabilizing the error system via passivity-based approach. First, a fundamental framework is provided for constructing the error system via generalized canonical transformations. Then a concrete design procedure is derived for a class of electro-mechanical systems. Furthermore, the proposed method is applied to a magnetic levitation system and laboratory experiments demonstrate its effectiveness.

Keywords

Nonlinear control; Physical models; Tracking systems

Citation

• Journal: Automatica
• Year: 2003
• Volume: 39
• Issue: 12
• Pages: 2059–2069
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2003.07.005

BibTeX

@article{Fujimoto_2003,
  title={{Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations}},
  volume={39},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2003.07.005},
  number={12},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Fujimoto, Kenji and Sakurama, Kazunori and Sugie, Toshiharu},
  year={2003},
  pages={2059--2069}
}

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References

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