Trajectory Tracking Control of Port-Controlled Hamiltonian Systems via Generalized Canonical Transformations
Authors
Kenji FUJIMOTO, Kazunori SAKURAMA, Toshiharu SUGIE
Abstract
This paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. A general framework of tracking control of those systems utilizing the passivity property is proposed. Firstly, how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system is shown. Secondly, a practical procedure to construct tracking controllers of port-controlled Hamiltonian systems including nonholonomic systems are derived. Finally, a simple example of tracking control of a nonholonomic system demonstrates the effectiveness of the proposed method. This method is a natural extension of the conventional passivity based control and is expected to derive robustly stable control systems.
Citation
- Journal: Transactions of the Society of Instrument and Control Engineers
- Year: 2001
- Volume: 37
- Issue: 8
- Pages: 741–747
- Publisher: The Society of Instrument and Control Engineers
- DOI: 10.9746/sicetr1965.37.741
BibTeX
@article{FUJIMOTO_2001,
title={{Trajectory Tracking Control of Port-Controlled Hamiltonian Systems via Generalized Canonical Transformations}},
volume={37},
ISSN={0453-4654},
DOI={10.9746/sicetr1965.37.741},
number={8},
journal={Transactions of the Society of Instrument and Control Engineers},
publisher={The Society of Instrument and Control Engineers},
author={FUJIMOTO, Kenji and SAKURAMA, Kazunori and SUGIE, Toshiharu},
year={2001},
pages={741--747}
}