Trajectory tracking control of a class of underactuated port-controlled hamiltonian systems.
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| Title: | Trajectory tracking control of a class of underactuated port-controlled hamiltonian systems. |
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| Authors: | Ramos-García, Fernanda1 (AUTHOR), Avila-Becerril, Sofía2 (AUTHOR), Espinosa-Pérez, Gerardo1 (AUTHOR) gerardoe@unam.mx |
| Source: | International Journal of Control. Mar2026, Vol. 99 Issue 3, p663-676. 14p. |
| Subjects: | Passivity-based control, Lyapunov stability, Permanent magnet motors, Nonlinear control theory, Robotic trajectory control, Hamilton's principle function, Dynamical systems |
| Abstract: | Passivity-Based Control is a widely recognised control design methodology that has been successfully applied to solve regulation control problems for Port-Controlled Hamiltonian systems. However, the problem of stabilising time-varying trajectories is a topic that still requires further research, in particular for underactuated systems, i.e. systems with fewer control inputs than generalised coordinates. The purpose of this paper is to contribute to the consolidation of this control technique to solve tracking control problems for underactuated Port-Controlled Hamiltonian systems by identifying a novel class of systems for which it is possible to solve the tracking problem. This class is characterised by a quadratic Hamiltonian function and state-dependent interconnection and damping matrices that generate quadratic nonlinearities. It is shown that the desired time-varying trajectories exhibit asymptotic stability properties by applying well-known and simple Lyapunov-based results from the nonlinear systems theory. The usefulness of the contribution is illustrated in a numerical setting by approaching two case studies of practical interest, namely: the three-dimensional Lorenz oscillator system and the model of a surface-mounted Permanent Magnet Synchronous Motor. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Control is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 192006494 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Trajectory tracking control of a class of underactuated port-controlled hamiltonian systems. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Ramos-García%2C+Fernanda%22">Ramos-García, Fernanda</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Avila-Becerril%2C+Sofía%22">Avila-Becerril, Sofía</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Espinosa-Pérez%2C+Gerardo%22">Espinosa-Pérez, Gerardo</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> gerardoe@unam.mx</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Control%22">International Journal of Control</searchLink>. Mar2026, Vol. 99 Issue 3, p663-676. 14p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Passivity-based+control%22">Passivity-based control</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br /><searchLink fieldCode="DE" term="%22Permanent+magnet+motors%22">Permanent magnet motors</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+control+theory%22">Nonlinear control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Hamilton's+principle+function%22">Hamilton's principle function</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamical+systems%22">Dynamical systems</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Passivity-Based Control is a widely recognised control design methodology that has been successfully applied to solve regulation control problems for Port-Controlled Hamiltonian systems. However, the problem of stabilising time-varying trajectories is a topic that still requires further research, in particular for underactuated systems, i.e. systems with fewer control inputs than generalised coordinates. The purpose of this paper is to contribute to the consolidation of this control technique to solve tracking control problems for underactuated Port-Controlled Hamiltonian systems by identifying a novel class of systems for which it is possible to solve the tracking problem. This class is characterised by a quadratic Hamiltonian function and state-dependent interconnection and damping matrices that generate quadratic nonlinearities. It is shown that the desired time-varying trajectories exhibit asymptotic stability properties by applying well-known and simple Lyapunov-based results from the nonlinear systems theory. The usefulness of the contribution is illustrated in a numerical setting by approaching two case studies of practical interest, namely: the three-dimensional Lorenz oscillator system and the model of a surface-mounted Permanent Magnet Synchronous Motor. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Control is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1080/00207179.2025.2532141 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 14 StartPage: 663 Subjects: – SubjectFull: Passivity-based control Type: general – SubjectFull: Lyapunov stability Type: general – SubjectFull: Permanent magnet motors Type: general – SubjectFull: Nonlinear control theory Type: general – SubjectFull: Robotic trajectory control Type: general – SubjectFull: Hamilton's principle function Type: general – SubjectFull: Dynamical systems Type: general Titles: – TitleFull: Trajectory tracking control of a class of underactuated port-controlled hamiltonian systems. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Ramos-García, Fernanda – PersonEntity: Name: NameFull: Avila-Becerril, Sofía – PersonEntity: Name: NameFull: Espinosa-Pérez, Gerardo IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: Mar2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 00207179 Numbering: – Type: volume Value: 99 – Type: issue Value: 3 Titles: – TitleFull: International Journal of Control Type: main |
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