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

Fujimoto, Kenji; Sakurama, Kazunori; Sugie, Toshiharu

doi:10.1016/j.automatica.2003.07.005

Cited by 204 publications

(49 citation statements)

References 17 publications

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“…In particular, many fundamental results on both stability analysis and controller synthesis have been established (see, e.g., [4,6,14,21,18,24] and the references therein). The Hamiltonian function in a PCH system is considered as the sum of potential energy (excluding gravitational potential energy) and kinetic energy in physical systems, and it can be used as a good candidate of Lyapunov function for many physical systems.…”

Section: Introductionmentioning

confidence: 99%

Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation

Sun

2011

Applied Mathematics and Computation

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Section: Introductionmentioning

confidence: 99%

Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation

Sun

2011

Applied Mathematics and Computation

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“…Due to its well structure with clear physical meaning, remarkable achievements on both analysis and synthesis of PCH systems have been made (see, the references therein and e.g., [2,3,5,7,10]). One of the advantages of Hamiltonian systems is that the (energy-shaped) Hamilton function in a PCH system can represent many essential system properties and can be used as a good candidate of Lyapunov function [6,8,12] .…”

Section: Introductionmentioning

confidence: 99%

Stabilization analysis of time-varying Hamiltonian systems with input delay

Sun

2014

Proceedings of the 33rd Chinese Control Conference

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The stabilization problem of time-varying port-controlled Hamiltonian (PCH) systems with input delay is addressed in this paper. Based on energy-shaping approach and using Lyapunov-Krasovskii (L-K) functional theorem, a feedback controller is proposed for the asymptotical stability of the closed-loop system in presence of delay. Like Casimir function is proposed to help shaping the Hamiltonian as a candidate of Lyapunov function in the extended systems. A numerical example is presented to illustrate the effectiveness of the results obtained in this paper.

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“…Recently, port-controlled Hamiltonian (PCH) systems have been well investigated in a series of works [5][6][7][8]. The Hamiltonian function is a good candidate of Lyapunov functions for many physical systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of uncertain port-controlled Hamiltonian systems subject to actuator saturation

Wei

Wang

2011

Int. J. Control Autom. Syst.

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This paper deals with the problem of adaptive control of uncertain nonlinear port-controlled Hamiltonian systems subject to actuator saturation, and proposes a number of results on the control design. Firstly, the adaptive stabilization problem is studied, and a control design method is developed by using both the dissipative Hamiltonian structural and saturated actuator properties. Secondly, for the case that there are both parametric uncertainties and external disturbances in the AS systems, an adaptive H ∞ control design approach is presented. Finally, study of an example of power systems with simulations shows that the adaptive controller proposed in this paper is effective.

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

Cited by 204 publications

References 17 publications

Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation

Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation

Stabilization analysis of time-varying Hamiltonian systems with input delay

Adaptive control of uncertain port-controlled Hamiltonian systems subject to actuator saturation

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