Related papers: Remarks on the geometric structure of port-Hamilto…
We discuss a new geometric construction of port-Hamiltonian systems. Using this framework, we revisit the notion of interconnection providing it with an intrinsic description. Special emphasis on theoretical and applied examples is given…
We give insight in the structure of port-Hamiltonian systems as control systems in between two closed Hamiltonian systems. Using the language of category theory, we identify systems with their behavioural representation and view a…
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…
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…
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…
The system of a closed vortex filament is an integrable Hamiltonian one, namely, a Hamiltonian system with an infinite sequense of constants of motion in involution. An algebraic framework is given for the aim of describing differential…
In this paper we present a unifying geometric and compositional framework for modeling complex physical network dynamics as port-Hamiltonian systems on open graphs. Basic idea is to associate with the incidence matrix of the graph a Dirac…
Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…
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 employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…
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…
We consider networks of infinite-dimensional port-Hamiltonian systems $\mathfrak{S}_i$ on one-dimensional spatial domains. These subsystems of port-Hamiltonian type are interconnected via boundary control and observation and are allowed to…
The group of automorphisms of the geometry of an integrable system is considered. The geometrical structure used to obtain it is provided by a normal form representation of integrable systems that do not depend on any additional geometrical…
In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…
In this work, we conduct a systematic study of Hamiltonian and quasi-Hamiltonian systems within the framework of nondecomposable generalized Poisson geometry. Our focus lies on the interplay between the algebraic structure of…
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…
In this article we study the possibilities of recovering the structure of port-Hamiltonian systems starting from ``unlabelled'' ordinary differential equations describing mechanical systems. The algorithm we suggest solves the problem in…
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…
We demonstrate the common bihamiltonian nature of several integrable systems. The first one is an elliptic rotator that is an integrable Euler-Arnold top on the complex group GL(N) for any $N$, whose inertia ellipsiod is related to a choice…
We provide an introduction to infinite-dimensional port-Hamiltonian systems. As this research field is quite rich, we restrict ourselves to the class of infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial…