Contraction-based Tracking Control of Electromechanical Systems

TL;DR

This paper introduces a contraction-based control method for electromechanical systems modeled in the port-Hamiltonian framework, enabling effective trajectory tracking without complex PDE solving or coordinate transformations.

Contribution

It presents a novel control design approach that preserves physical interpretation and simplifies implementation for electromechanical systems.

Findings

Successful simulation results on various electromechanical systems

Control design avoids solving PDEs and coordinate changes

Method maintains physical interpretability of the system

Abstract

This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to design the desired closed-loop dynamics and the corresponding tracking controller. Notably, the proposed control design method does not require solving partial differential equations or changing the coordinates of the plant, which permits preserving the physical interpretation of the controller. The applicability of the proposed approach is illustrated in several electromechanical systems via simulations.