On potential function design for path following control of port-Hamiltonian systems

Abstract

This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is so difficult to find a potential function for a complex path. Inspired by the results of… (More)
DOI: 10.1109/CDC.2017.8264031

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