Trajectory tracking of a class of port Hamiltonian systems using Timed IDA-PBC technique

Authors

Abolfazl Yaghmaei, Mohammad Javad Yazdanpanah

Abstract

In the line of presenting a tracker design in port-Hamiltonian systems, a timed version of Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique, hereafter called Timed IDA-PBC, is introduced. One of the advantages of the proposed method is its ability to utilize the stabilization results for the purpose of tracking. For many systems, when the stabilization problem is solved via the common IDA-PBC method, using some simple modifications on the closed-loop Hamiltonian function, the tracking problem can also be solved through the Timed IDA-PBC technique.

Citation

• Journal: 2015 54th IEEE Conference on Decision and Control (CDC)
• Year: 2015
• Volume:
• Issue:
• Pages: 5037–5042
• Publisher: IEEE
• DOI: 10.1109/cdc.2015.7403007

BibTeX

@inproceedings{Yaghmaei_2015,
  title={{Trajectory tracking of a class of port Hamiltonian systems using Timed IDA-PBC technique}},
  DOI={10.1109/cdc.2015.7403007},
  booktitle={{2015 54th IEEE Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Yaghmaei, Abolfazl and Yazdanpanah, Mohammad Javad},
  year={2015},
  pages={5037--5042}
}

Download the bib file

References

• Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
• 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
• Takegaki, M. & Arimoto, S. A New Feedback Method for Dynamic Control of Manipulators. Journal of Dynamic Systems, Measurement, and Control 103, 119–125 (1981) – 10.1115/1.3139651
• PADEN, B. & PANJA, R. Globally asymptotically stable ‘PD+’ controller for robot manipulators. International Journal of Control 47, 1697–1712 (1988) – 10.1080/00207178808906130
• Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002) – 10.1109/tac.2002.800770
• LOHMILLER, W. & SLOTINE, J.-J. E. On Contraction Analysis for Non-linear Systems. Automatica 34, 683–696 (1998) – 10.1016/s0005-1098(98)00019-3
• Rodríguez, H. & Ortega, R. Stabilization of electromechanical systems via interconnection and damping assignment. Intl J Robust & Nonlinear 13, 1095–1111 (2003) – 10.1002/rnc.804
• Dörfler, F., Johnsen, J. K. & Allgöwer, F. An introduction to interconnection and damping assignment passivity-based control in process engineering. Journal of Process Control 19, 1413–1426 (2009) – 10.1016/j.jprocont.2009.07.015
• Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0 – 10.1007/978-3-642-03196-0
• Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004) – 10.3166/ejc.10.432-450
• 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, Trajectory tracking control of nonholo-nomic hamiltonian systems via canonical transformations. Proceedings of the American Control Conference (2002)
• Ramírez, H., Sbarbaro, D. & Ortega, R. On the control of non-linear processes: An IDA–PBC approach. Journal of Process Control 19, 405–414 (2009) – 10.1016/j.jprocont.2008.06.018
• Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Automat. Contr. 50, 1936–1955 (2005) – 10.1109/tac.2005.860292
• Kotyczka, P., Volf, A. & Lohmann, B. Passivity based trajectory tracking control with predefined local linear error dynamics. Proceedings of the 2010 American Control Conference 3429–3434 (2010) doi:10.1109/acc.2010.5531100 – 10.1109/acc.2010.5531100