Hoang, Ngoc Ha and Nguyen, Thanh Sang and Phan, Thi Thanh Hang and Le, Thi Kieu Nga and Hussain, Mohd Azlan and Dochain, Denis (2022) Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations. Systems & Control Letters, 167. ISSN 0167-6911, DOI https://doi.org/10.1016/j.sysconle.2022.105325.
Full text not available from this repository.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.
| Item Type: | Article |
|---|---|
| Funders: | National Foundation for Science & Technology Development (NAFOSTED) [103.99-2019.385] |
| Uncontrolled Keywords: | Quadratic port -Hamiltonian systems; Tracking control; Proportional-Integral control; Nonlinear systems |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) |
| Divisions: | Faculty of Engineering |
| Depositing User: | Ms. Juhaida Abd Rahim |
| Date Deposited: | 14 Sep 2023 04:28 |
| Last Modified: | 14 Sep 2023 04:28 |
| URI: | http://eprints.um.edu.my/id/eprint/41221 |
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