Observer-Based Adaptive Exponential Tracking of Port - Hamiltonian Systems via Contraction Method

This article proposes an observer-based adaptive exponential tracking control scheme for port-Hamiltonian systems (PHS) involving parameter uncertainty based on contraction method (CM). First, an exponential adaptive observer with Hamiltonian structure for uncertain generalized PHS is given based on the idea of augment plus feedback. Compared with the conventional observer design method, the proposed observer can maintain the structure of original system and simultaneously guarantees the completeness of the state's physical significance. Then, based on designed observer, we proposed an adaptive tracking control strategy by using the structure properties of the PHS and CM. Moreover, an analysis is provided of the relevant decay rate and how parameters affect tracking speed of system. Ultimately, simulation results demonstrated the effectiveness of proposed method.