Passive robust control for uncertain Hamiltonian systems by using operator theory  

作　　者：Ni Bu Yuyi Zhang Xiaoyong Li Wei Chen Changan Jiang 

机构地区：[1]College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao,China [2]Department of Robotics,Osaka Institute of Technology,Osaka,Japan

出　　处：《CAAI Transactions on Intelligence Technology》2022年第4期594-605,共12页智能技术学报（英文）

基　　金：National Natural Science Foundation of China,Grant/Award Number:61304093;Natural Science Foundation of Shandong Province,Grant/Award Number:ZR2021MF047。

摘　　要：In this study,the passivity-based robust control and tracking for Hamiltonian systems with unknown perturbations by using the operator-based robust right coprime factorisation method is concerned.For the system with unknown perturbations,a design scheme is proposed to guarantee the uncertain non-linear systems to be robustly stable while the equivalent non-linear systems is passive,meanwhile the asymptotic tracking property of the plant output is discussed.Moreover,the design scheme can be also used into the general Hamiltonian systems while the simulation is used to further demonstrate the effectiveness of the proposed method.

关 键 词：Hamiltonian systems robust right coprime factorisation storage function 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]