Related papers: Robust port-Hamiltonian representations of passive…
While port-Hamiltonian descriptor systems are known to be stable and passive, they may not be asymptotically stable or strictly passive. Necessary and sufficient conditions are presented when these properties as well as the regularity and…
This work presents a distributionally robust Kalman filter to address uncertainties in noise covariance matrices and predicted covariance estimates. We adopt a distributionally robust formulation using bicausal optimal transport to…
We consider the linear complementarity problem with uncertain data modeled by intervals, representing the range of possible values. Many properties of the linear complementarity problem (such as solvability, uniqueness, convexity, finite…
Numerical methods for developing port-Hamiltonian representations of general linear time-invariant systems are studied. The approach extends previous port-Hamiltonian characterizations to include the general non-minimal case and the case…
A commonly used approach to study stability in a complex system is by analyzing the Jacobian matrix at an equilibrium point of a dynamical system. The equilibrium point is stable if all eigenvalues have negative real parts. Here, by…
Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…
We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator…
Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation, due to their ability to model non-smooth phenomena (e.g.,…
With this contribution, we give a complete and comprehensive framework for modeling the dynamics of complex mechanical structures as port-Hamiltonian systems. This is motivated by research on the potential of lightweight construction using…
One approach to robust control for linear plants with structured uncertainty as well as for linear parameter-varying (LPV) plants (where the controller has on-line access to the varying plant parameters) is through…
This paper formulates and solves the problem of robust compensation of multiport active network. This is an important engineering problem as networks designed differ in parameter values due to tolerance during manufacture from their actual…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Maximal monotonicity is explored as a generalization of the linear theory of passivity, aiming at an algorithmic input/output analysis of physical models. The theory is developed for maximal monotone one-port circuits, formed by the series…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
We study the well-posedness and stability of an impedance passive infinite-dimensional linear system under nonlinear feedback of the form $u(t)=\phi(v(t)-y(t))$, where $\phi$ is a monotone function. Our first main result introduces…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
There are four variants of passive, linear time-invariant systems, described by rational functions: Continuous or Discrete time, Positive or Bounded real. By introducing a quadratic matrix inequality formulation, we present a unifying…
This paper is concerned with a robust instability analysis for the single-input-single-output unstable linear time-invariant (LTI) system under dynamic perturbations. The nominal system itself is possibly perturbed by the static gain of the…
Infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial domain with full boundary control and without internal damping are studied. This class of systems includes models of beams and waves as well as the transport…
A well-specified parametrization for single-input/single-output (SISO) linear port-Hamiltonian systems amenable to structure-preserving supervised learning is provided. The construction is based on controllable and observable normal form…