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Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations
2003
Automatica
This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity based control. The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. After obtaining the error system, tracking control of the original system can be achieved by stabilizing the error system via passivity based approach. First, a
doi:10.1016/j.automatica.2003.07.005
fatcat:6qi4lmt5ona3bp3prcxt5cd7ai