In this paper, we first propose an extended Casimir method for energy-shaping. Then it is used to solve some control problems of Hamiltonian systems. To solve the Hoo control problem, the energy function of a Hamilton...In this paper, we first propose an extended Casimir method for energy-shaping. Then it is used to solve some control problems of Hamiltonian systems. To solve the Hoo control problem, the energy function of a Hamiltonian system is shaped to such a form that could be a candidate solution of HJI inequality. Next, the energy function is shaped as a candidate of control ISS-Lyapunov function, and then the input-to-state stabilization of port-controlled Hamiltonian systems is achieved. Some easily verifiable sufficient conditions are presented.展开更多
基金Supported by the National Natural Science Foundation of China under Grants 60221301 and 60334040.
文摘In this paper, we first propose an extended Casimir method for energy-shaping. Then it is used to solve some control problems of Hamiltonian systems. To solve the Hoo control problem, the energy function of a Hamiltonian system is shaped to such a form that could be a candidate solution of HJI inequality. Next, the energy function is shaped as a candidate of control ISS-Lyapunov function, and then the input-to-state stabilization of port-controlled Hamiltonian systems is achieved. Some easily verifiable sufficient conditions are presented.
