Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations
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 origina...
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my.um.eprints.412212023-09-14T04:28:26Z http://eprints.um.edu.my/41221/ Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations Hoang, Ngoc Ha Nguyen, Thanh Sang Phan, Thi Thanh Hang Le, Thi Kieu Nga Hussain, Mohd Azlan Dochain, Denis TA Engineering (General). Civil engineering (General) 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. Elsevier 2022-09 Article PeerReviewed 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 <https://doi.org/10.1016/j.sysconle.2022.105325>. 10.1016/j.sysconle.2022.105325 |
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TA Engineering (General). Civil engineering (General) Hoang, Ngoc Ha Nguyen, Thanh Sang Phan, Thi Thanh Hang Le, Thi Kieu Nga Hussain, Mohd Azlan Dochain, Denis Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
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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. |
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Article |
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Hoang, Ngoc Ha Nguyen, Thanh Sang Phan, Thi Thanh Hang Le, Thi Kieu Nga Hussain, Mohd Azlan Dochain, Denis |
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Hoang, Ngoc Ha Nguyen, Thanh Sang Phan, Thi Thanh Hang Le, Thi Kieu Nga Hussain, Mohd Azlan Dochain, Denis |
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Hoang, Ngoc Ha |
title |
Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
title_short |
Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
title_full |
Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
title_fullStr |
Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
title_full_unstemmed |
Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations |
title_sort |
trajectory tracking for nonlinear systems using extended quadratic port-hamiltonian models without input and state coordinate transformations |
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Elsevier |
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2022 |
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http://eprints.um.edu.my/41221/ |
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1778161643086151680 |
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13.159267 |