Related papers: Generalized Port-Hamiltonian DAE Systems
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…
We introduce a new definition of discrete-time port-Hamiltonian systems (PHS), which results from structure-preserving discretization of explicit PHS in time. We discretize the underlying continuous-time Dirac structure with the collocation…
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…
It is well known that the integrable Hamiltonian systems defined by the Adler-Kostant-Symes construction correspond via Hamiltonian reduction to systems on cotangent bundles of Lie groups. Generalizing previous results on Toda systems, here…
We consider a class of two dimensional dilatonic models, and revisit them from the perspective of a new set of "polar type" variables. These are motivated by recently defined variables within the spherically symmetric sector of 4D general…
This paper offers a geometric framework for modeling port-Hamiltonian systems on discrete manifolds. The simplicial Dirac structure, capturing the topological laws of the system, is defined in terms of primal and dual cochains related by…
We consider the problem of constrained motion along a conic path under a given external potential function. The model is described as a second-class system capturing the behavior of a certain class of specific quantum field theories. By…
Many integrable hierarchies of differential equations allow a variational description, called a Lagrangian multiform or a pluri-Lagrangian structure. The fundamental object in this theory is not a Lagrange function but a differential…
In this contribution, we extend the hybridization framework for the Hodge Laplacian [Awanou et al., Hybridization and postprocessing in finite element exterior calculus, 2023] to port-Hamiltonian systems describing linear wave propagation…
The study of mechanical systems on Lie algebroids permits an understanding of the dynamics described by a Lagrangian or Hamiltonian function for a wide range of mechanical systems in a unified framework. Systems defined in tangent bundles,…
This article presents a simple port-Hamiltonian formulation of the equations for an RLC electric circuit as a differential-algebraic equation system, and a proof that structural analysis always succeeds on it for a well-posed circuit, thus…
In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a…
We propose a Hamiltonian Lie algebroid and a momentum section over a Dirac structure as a generalization of a Hamiltonian Lie algebroid over a pre-symplectic manifold and one over a Poisson manifold. A Hamiltonian Lie algebroid and a…
Hybrid machine learning based on Hamiltonian formulations has recently been successfully demonstrated for simple mechanical systems, both energy conserving and not energy conserving. We introduce a pseudo-Hamiltonian formulation that is a…
In the present work we formally extend the theory of port-Hamiltonian systems to include random perturbations. In particular, suitably choosing the space of flow and effort variables we will show how several elements coming from possibly…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
An open issue in classical relativistic mechanics is the consistent treatment of the dynamics of classical $N$-body systems of mutually-interacting particles. This refers, in particular, to charged particles subject to EM interactions,…
In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can…
We consider linear first-order systems of ordinary differential equations (ODEs) in port-Hamiltonian (pH) form. Physical parameters are remodelled as random variables to conduct an uncertainty quantification. A stochastic Galerkin…
We perform a systematic analysis of the conditions under which \textit{generalized} gauge field theories of compact semisimple Lie groups exhibit electrostatic spherically symmetric non-topological soliton solutions in three space…