This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transi...This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.展开更多
This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introdu...This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Third, a novel matching equation is built via the TTO principle for the Hamiltonian control systems with time delay, which generates an effective control law for the Hamiltonian control systems with time delay. Finally, a numerical example shows the effectiveness of proposed method.展开更多
基金supported by the National Natural Science Foundation of China(Nos.61125301,60974026)
文摘This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.
基金supported by the National Science Fund for Distinguished Youth Scholars of China (No. 61125301)
文摘This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Third, a novel matching equation is built via the TTO principle for the Hamiltonian control systems with time delay, which generates an effective control law for the Hamiltonian control systems with time delay. Finally, a numerical example shows the effectiveness of proposed method.
