Contraction, regulation, trajectory tracking and coupled damping for classes of port-Hamiltonian systems

Abstract: This talk investigates the regulation and trajectory tracking problems for classes of mechanical and Electromechanical (EM) systems. To this end, we formulate energy-based models within the port-Hamiltonian (pH) framework. Using the pH framework, we employ standard Lyapunov theory and contraction theory to develop control approaches with physical interpretation. These methods are related to the well-known Interconnection and Damping Assignment Passivity-Based Control approach. However, the proposed control methods remove the need for solving partial differential equations or implementing any change of coordinates. In detail, in the case of mechanical systems, we propose control design methods using dynamic extensions to remove velocity measurements from the controllers while rejecting matched and unmatched disturbances. In addition, we suggest control approaches specifically using the notion of  coupled damping to enhance the performance of transient response and the convergence rate in the EM systems. The applicability of these methods is illustrated via different mechanical and electromechanical applications.

mathematical physicsanalysis of PDEsdifferential geometrydynamical systemsfunctional analysisnumerical analysisoptimization and controlspectral theory

Audience: researchers in the discipline

( video )

Port-Hamiltonian Seminar

Series comments: Slides and recordings can be found here: uni-wuppertal.sciebo.de/s/CQfBsXr9iOI17ZY