On Contractive Port-Hamiltonian Systems With State-Modulated Interconnection and Damping Matrices

• 成果类型: Article
• 署名作者: Yaghmaei, Abolfazl; Yazdanpanah, Mohammad Javad
• 署名单位: University of Tehran; University of Tehran
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3273394
• 发表日期: 2024
• 页码: 622-628
• 关键词: trajectory; Damping; CONVERGENCE; measurement; Riccati equations; Symmetric matrices; observers; Cart-pendulum system; Contraction analysis; interconnection and damping assignment passivity-based control (IDA-PBC); port-Hamiltonian systems; Trajectory tracking

摘要

In this article, for the input-state-output class of port-Hamiltonian systems, the contraction property is characterized. Recently, some results on contraction of port-Hamiltonian systems with constant interconnection and damping matrices have been published. This article extends these results for state-modulated interconnection and damping matrices. In this regard, the powerful method of interconnection and damping assignment passivity-based control is extended for tracking designs. Controller design for underactuated mechanical systems with nonconstant mass matrices usually leads to nonconstant (state-modulated) interconnection and damping matrices for the closed-loop system. Therefore, the result of this article can be used for tracking controller design for underactuated mechanical systems. To show the potency of proposed results, a tracking controller for cart-pole system is designed and simulated.