Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations
Document Type
Article
Publication Date
9-1-2022
Abstract
In this note, an enhanced trajectory tracking (or equivalently, tracking-error) approach is developed for the control of nonlinear systems whenever the stage of feedback passivation design prior to synthesizing state feedback controllers is impossible. To achieve this purpose while using the original state vector to retain its interpretation, it is possible without the use of input and state coordinate transformations to combine the system dynamics with the so-called extended quadratic port-Hamiltonian (PH) models (including possibly the quadratic pseudo PH models) which are then divided into non-relaxing and relaxing ones for further study on control benefits. Interestingly, both cases are associated to a unifying quadratic Hamiltonian storage function similar to that of electrical, mechanical, or electromechanical systems with a specific insight. Sufficient conditions for the global asymptotic or exponential convergence of the system trajectory to the reference one are shown. In addition, a Proportional-Integral action can be added to the tracking control for improving the closedloop performance and robustness. The proposed approach is illustrated via two case studies, including the non-minimum phase Van de Vusse reaction system and the 3-DOF SCARA robot. (c) 2022 Elsevier B.V. All rights reserved.
Keywords
Quadratic port -Hamiltonian systems, Tracking control, Proportional-Integral control, Nonlinear systems
Divisions
fac_eng
Funders
National Foundation for Science & Technology Development (NAFOSTED) [103.99-2019.385]
Publication Title
Systems & Control Letters
Volume
167
Publisher
Elsevier
Publisher Location
RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS