On the Trajectory Tracking Control of Hamiltonian Systems

Resumen: In this work, the solution of the trajectory tracking control problem for a class of port Hamiltonian systems is presented. The considered class is characterized by the fact that the interconnection matrix exhibits a particular structure that corresponds to the condition that the internal interconnection of the components of the vector state is modulated by the state itself. An additional feature of the presented result is the possibility to deal with under-actuated system. Regarding the stability analysis, the structure of the approached class allows to formulate the control error dynamic in such a way that using well-known results from the perturbed systems theory it is possible to obtain asymptotic stability properties for the closed-loop system. The usefulness of the contribution is illustrated by solving the speed tracking control problem of the Permanent Magnet Synchronous Motor.

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Fernanda Ramos-García, Gerardo Espinosa-Pérez & Sofía Avila-Becerril. On the Trajectory Tracking Control of Hamiltonian Systems. Memorias del Congreso Nacional de Control Automático, pp. 292-297, 2021.

Palabras clave

Nonlinear control, Passivity Based Control, Tracking control, Hamiltonian Systems

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