Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems

Authors

Alessandro Macchelli

Abstract

This letter presents a regulator for nonlinear, discrete-time port-Hamiltonian systems that lets the state track a reference signal. Similarly to continuous-time approaches, the synthesis is based on the mapping via state-feedback of the open-loop error system to a target one in port-Hamiltonian form, and with an asymptotically stable origin that corresponds to the perfect tracking condition. The procedure is formally described by a matching equation that, in continuous-time, turns out to be a nonlinear partial differential equation (PDE). This is not the case for sampled-data systems, so an algebraic approach is proposed. The solution is employed to construct a dynamical regulator that performs an “approximated” mapping. The stability analysis relies on Lyapunov arguments.

Citation

• Journal: IEEE Control Systems Letters
• Year: 2022
• Volume: 6
• Issue:
• Pages: 3146–3151
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/lcsys.2022.3182845

BibTeX

@article{Macchelli_2022,
  title={{Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems}},
  volume={6},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2022.3182845},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Macchelli, Alessandro},
  year={2022},
  pages={3146--3151}
}

Download the bib file

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