Related papers: On the Generalization of Data-Assisted Control in …
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…
Distributed Port-Hamiltonian (dPHS) theory provides a powerful framework for modeling physical systems governed by partial differential equations and has enabled a broad class of boundary control methodologies. Their effectiveness, however,…
Port-Hamiltonian systems (PHS) and interconnection and damping assignment passivity-based control (IDA-PBC) have achieved broad success in modelling and stabilisation of physical systems. However, the absence of a dedicated scalar potential…
Port-Hamiltonian theory is an established way to describe nonlinear physical systems widely used in various fields such as robotics, energy management, and mechanical engineering. This has led to considerable research interest in the…
Port-Hamiltonian systems (pHS) allow for a structure-preserving modeling of dynamical systems. Coupling pHS via linear relations between input and output defines an overall pHS, which is structure preserving. However, in multiphysics…
Conventional physics-based modeling techniques involve high effort, e.g., time and expert knowledge, while data-driven methods often lack interpretability, structure, and sometimes reliability. To mitigate this, we present a data-driven…
Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are,…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabilizing controllers for nonlinear systems while optimizing…
This paper investigates the problem of data-driven modeling of port-Hamiltonian systems while preserving their intrinsic Hamiltonian structure and stability properties. We propose a novel neural-network-based port-Hamiltonian modeling…
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that…
Port-based network modeling of multi-physics problems leads naturally to a formulation as port-Hamiltonian differential-algebraic system. In this way, the physical properties are directly encoded in the structure of the model. Since the…
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…
Many models of physical systems, such as mechanical and electrical networks, exhibit algebraic constraints that arise from subsystem interconnections and underlying physical laws. Such systems are commonly formulated as…
This paper is concerned with the modeling and control of a curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator using the port-Hamiltonian (PH) approach. For that purpose, we use a modular approach and consider the…
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…
Real physical systems are dissipative -- a pendulum slows, a circuit loses charge to heat -- and forecasting their dynamics from partial observations is a central challenge in scientific machine learning. We address the \emph{position-only}…
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…
We suggest a global perspective on dynamic network flow problems that takes advantage of the similarities to port-Hamiltonian dynamics. Dynamic minimum cost flow problems are formulated as open-loop optimal control problems for general…