Physics-informed Learning for Passivity-based Tracking Control
Abstract
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping assignment passivity-based control (IDA-PBC) due to their structured, energy-centric modeling approach. However, current IDA-PBC faces two key challenges: (i) it requires precise system knowledge, which is often unavailable due to model uncertainties, and (ii) it is typically limited to set-point control. To address these limitations, we propose a data-driven tracking control approach based on a physics-informed model, namely Gaussian process Port-Hamiltonian systems, along with the modified matching equation. By leveraging the Bayesian nature of the model, we establish probabilistic stability and passivity guarantees. A simulation demonstrates the effectiveness of our approach.
Cite
@article{arxiv.2505.01569,
title = {Physics-informed Learning for Passivity-based Tracking Control},
author = {Thomas Beckers and Leonardo Colombo},
journal= {arXiv preprint arXiv:2505.01569},
year = {2025}
}