一般化正準変換を用いたポートハミルトン系の経路追従制御のためのポテンシャル関数の設計

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  • Potential Function Design for Path Following Control of Port-Hamiltonian Systems via Generalized Canonical Transformations
  • イッパンカ セイ ジュンヘンカン オ モチイタ ポートハミルトンケイ ノ ケイロ ツイジュウ セイギョ ノ タメ ノ ポテンシャル カンスウ ノ セッケイ

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<p>This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is difficult to find such a function for a complex path, since it has to satisfy additional several constraints. Inspired by the results of the existing trajectory tracking control method of port-Hamiltonian systems, we propose an improved path following control method in which a potential function for path following control is acquired by solving simple partial differential equations.</p>

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