Adaptive robust parallel simultaneous stabilization of two uncertain port-controlled Hamiltonian systems subject to input saturation

This paper deals with the problem of adaptive robust parallel simultaneous stabilization (ARPSS) of two uncertain nonlinear port-controlled Hamiltonian systems subject to input saturation, and proposes a number of results on the control design. Firstly, an adaptive H_∞ control design approach is presented by using both the dissipative Hamiltonian structural and saturated actuator properties for the case that there are both parametric uncertainties and external disturbances in the systems. Secondly, the results obtained for Hamiltonian systems are applied to ARPSS problem for two uncertain nonlinear affine systems subject to input saturation, and several interesting results are obtained. Finally, study of an example with simulations shows that the adaptive controller proposed in this paper is effective.