耦合动力学下端口哈密顿系统的匹配扰动抑制
Matched Disturbance Rejection for Port-Hamiltonian Systems with Coupled Dynamics
AI总结：
本文针对耦合PH扰动模型，提出两种适配不同结构条件的端口哈密顿系统匹配扰动抑制方法，可保证系统状态渐近收敛并保留闭环PH表示，拓宽了扰动抑制方法的适用范围。
AI中文摘要：
本文研究了此前已稳定的端口哈密顿（Port-Hamiltonian, PH）系统中，由耦合PH动力学产生的匹配扰动的抑制问题。扰动动力学被整合到统一的PH表示中，使扰动既能通过匹配输入通道，又能通过互联结构影响被控对象。与现有通常对扰动动力学施加限制性结构的研究结果不同，所提框架可容纳更广泛的耦合PH扰动类别，包括非零互联项和阻尼项。首先针对已知扰动存储参数建立了基线扰动抑制方案，随后通过在线参数估计将框架扩展至未知对称存储矩阵的情况。在不同结构条件下开发了两种控制设计，后者放宽了前者施加的维度限制。所提方法保证被控对象状态渐近收敛至期望平衡点，同时在对应条件下保留闭环动力学的PH表示。该结果推广了现有扰动抑制方法，拓宽了其在耦合PH扰动模型中的适用性。
英文摘要：
This paper investigates the rejection of matched disturbances generated by coupled port-Hamiltonian (PH) dynamics in previously stabilized PH systems. The disturbance dynamics are incorporated into a unified PH representation, allowing the disturbance to affect the plant through both the matched input channel and an interconnection structure. Unlike existing results that typically impose restrictive structures on the disturbance dynamics, the proposed framework accommodates a more general class of coupled PH disturbances, including nonzero interconnection and damping terms. A baseline disturbance rejection scheme is first established for known disturbance storage parameters. The framework is then extended to the case of an unknown symmetric storage matrix through online parameter estimation. Two control designs are developed under different structural conditions, with the latter relaxing the dimensional restriction imposed by the first design. The proposed methods guarantee asymptotic convergence of the plant state to the desired equilibrium, while preserving a port-Hamiltonian representation of the closed-loop dynamics under the corresponding conditions. The results generalize existing disturbance rejection approaches and broaden their applicability to coupled PH disturbance models.
