Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. (Q1421440)

Port-controlled Hamiltonian systems were introduced in the last decade as a generalization of conventional Hamiltonian systems. The authors describe not only mechanical systems but also a broad class of physically interesting systems such as electro-mechanical systems, mechanical systems with nonholonomic constraints, and combinations thereof. In previous work, they introduced generalized canonical transformations, generalizing the widely-known canonical transformations of Hamiltonian mechanics. The main idea of a generalized canonical transformation is to preserve the structure of the port-controlled Hamiltonian systems under both coordinate and feedback transformations. Generalized canonical transformations can be used for stabilization of port-controlled Hamiltonian systems. This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via a generalized canonical transformation and passivity-based control. The authors' main strategy is to construct an error system, which describes the dynamics of the tracking error, as a passive port-controlled Hamiltonian system. Based on the error system, tracking control of the original system can be achieved. Stabilization of the error system is the key element. The authors apply their methods to a magnetic levitation system and show how laboratory experiments demonstrate their effectiveness.