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

机译:通用规范变换轨迹控制汉密尔顿系统的轨迹跟踪控制

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摘要

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.
机译:本文旨在通过广义规范变换进行轨迹跟踪港口控制哈密顿系统的跟踪控制。 提出了利用传奇性财产的这些系统跟踪控制的一般框架。 首先,如何构造一个错误系统,描述了通过被动端口控制的哈密尔顿系统的跟踪误差的动态。 其次,推导了构建端口控制的哈密顿系统的跟踪控制器的实用程序,包括非完整系统。 最后,一个非完整系统的跟踪控制的简单示例展示了所提出的方法的有效性。 该方法是传统基于主控制的自然延伸,预计将导出稳健稳定的控制系统。

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