On trajectory tracking control of simple port-Hamiltonian systems based on passivity based sliding mode control. Issue 19 (2021)

• Record Type: Journal Article
• Authors: Sakata, N.; Fujimoto, K.; Maruta, I.
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 19(2021)
• Page Start: 38
• Page End: 43
• Publication Date: 2021
• Subjects: Passivity-based control -- Nonlinear control -- Robust Control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.11.052
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this work, the passivity-based sliding mode control technique is applied to trajectory tracking control problems. This method unifies two methods, sliding mode control and passivity-based control, and has the advantages of both control methods. This paper proposes a pair of a pre-coordinate transformation and a state feedback so that we obtain a desired error port-Hamiltonian system that describes the dynamics of the tracking error. This approach enables us to obtain appropriate design parameters satisfying a kind of matching condition to realize sliding mode control with a Lyapunov function. The effectiveness of the proposed method is demonstrated by a numerical simulation.