Abstract
This paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, a numerical simulation of a rolling coin exhibits the effectiveness of the proposed method.
