Related papers: Boundary controlled irreversible port-Hamiltonian …
In this paper, a discrete-time I&I-based adaptive IDA-PBC controller for uncertain nonlinearly parameterized port-controlled Hamiltonian systems (PCH), where the parameter uncertainties are assumed in the energy function, is constructed. A…
This paper introduces a hypothetical hybrid control framework for port-Hamiltonian (p$\mathcal{H}$) systems, employing a dynamic decomposition based on Data-Assisted Control (DAC). The system's evolution is split into two parts with fixed…
The modeling framework of port-Hamiltonian systems is systematically extended to constrained dynamical systems (descriptor systems, differential-algebraic equations). A new algebraically and geometrically defined system structure is…
We will give general sufficient conditions under which a controller achieves robust regulation for a boundary control and observation system. Utilizing these conditions we construct a minimal order robust controller for an arbitrary order…
This paper studies the existence of solutions and, in particular, the well-posedness of a class of boundary control systems. Our main result provides explicit and verifiable conditions on the system data that guarantee continuous dependence…
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…
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances. The proposed controller preserves the pH structure and, by…
Port-Hamiltonian systems provide an energy-based formulation with a model class that is closed under structure preserving interconnection. For continuous-time systems these interconnections are constructed by geometric objects called Dirac…
We extend the port-Hamiltonian framework defined with respect to a Lagrangian submanifold and a Dirac structure by augmenting the Lagrangian submanifold with the space of external variables. The new pair of conjugated variables is called…
Exploring the bulk-boundary correspondences and the boundary-induced phenomena in the strongly-correlated quantum systems belongs to the most fundamental topics of condensed matter physics. In this work, we study the bulk-boundary…
This article presents a systematic methodology for modeling a class of flexible multidimensional mechanical structures defined by linear elastic relations that directly allows to obtain their infinite-dimensional port-Hamiltonian…
We extend the modeling framework of port-Hamiltonian descriptor systems to include under- and over-determined systems and arbitrary differentiable Hamiltonian functions. This structure is associated with a Dirac structure that encloses its…
We propose a new interconnection relation for infinite-dimensional port-Hamiltonian systems that enables the coupling of ports with different spatial dimensions by integrating over the the surplus dimensions. To show the practical…
In this paper, we consider infinite-dimensional port-Hamiltonian systems with in-domain actuation by means of an approach based on Stokes-Dirac structures as well as in a framework that exploits an underlying jet-bundle structure. In both…
In this paper we prove that a large class of linear evolution PDEs defines a Stokes-Dirac structure over Hilbert spaces. To do so, the theory of boundary control system is employed. This definition encompasses problems from mechanics, that…
A prevalent theme throughout science and engineering is the ongoing paradigm shift away from isolated systems towards open and interconnected systems. Port-Hamiltonian theory developed as a synthesis of geometric mechanics and network…
Port-Hamiltonian (PH) systems provide a framework for modeling, analysis and control of complex dynamical systems, where the complexity might result from multi-physical couplings, non-trivial domains and diverse nonlinearities. A major…
In the recent years, passivity theory has gained renewed attention because of its advantages and practicality in modeling of multi-domain systems and constructive control techniques. Unlike Lyapunov theory, passivity theory takes a…
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…