Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
In this article, we have introduced a $\mathcal{PT}$ symmetric non-Hermitian Hamiltonian model which is given as $\hat{\mathcal{H}}=\omega (\hat{b}^{\dag}\hat{b}+1/2)+ \alpha (\hat{b}^{2}-(\hat{b}^{\dag})^{2})$ where $\omega$ and $\alpha$…
In this paper we derive expressions for matrix elements (\phi_i,H\phi_j) for the Hamiltonian H=-\Delta+\sum_q a(q)r^q in d > 1 dimensions. The basis functions in each angular momentum subspace are of the form…
We propose construction of a unique and definite metric ($\eta_+$), time-reversal operator (T) and an inner product such that the pseudo-Hermitian matrix Hamiltonians are C, PT, and CPT invariant and PT(CPT)-norm is indefinite (definite).…
Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…
The long standing problem of the ordering ambiguity in the definition of the Hamilton operator for a point particle in curved space is naturally resolved by using the powerful geometric calculus based on Clifford Algebra. The momentum…
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…
We show how to derive fixed-point Hamiltonians in quantum mechanics from a proposed renormalization group invariance approach that relies in a subtraction procedure at a given energy scale. The scheme is valid for arbitrary interactions…
Electric circuits are usually described by charge- and flux-oriented modified nodal analysis. In this paper, we derive models as port-Hamiltonian systems on several levels: overall systems, multiply coupled systems and systems within…
A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled…
The geometric formulation of Hamilton--Jacobi theory for systems with nonholonomic constraints is developed, following the ideas of the authors in previous papers. The relation between the solutions of the Hamilton--Jacobi problem with the…
Joint space and task space control are the two dominant action modes for controlling robot arms within the robot learning literature. Actions in joint space provide precise control over the robot's pose, but tend to suffer from inefficient…
Recently, a time-varying quadratic programming (QP) framework that describes the tracking operations of redundant robot manipulators is introduced to handle the kinematic resolutions of many robot control tasks. Based on the generalization…
This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known…
his paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint…
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…
For a (classically) integrable quantum mechanical system with two degrees of freedom, the functional dependence $\hat{H}=H_Q(\hat{J}_1,\hat{J}_2)$ of the Hamiltonian operator on the action operators is analyzed and compared with the…
A dynamic iteration scheme for linear infinite-dimensional port-Hamiltonian systems is proposed. The dynamic iteration is monotone in the sense that the error is decreasing, it does not require any stability condition and is in particular…
We propose a coordinate-invariant geometric formulation of the GENERIC stochastic differential equation, unifying reversible Hamiltonian and irreversible dissipative dynamics within a differential-geometric framework. Our construction…
We present a systematic method for dealing with time dependent quantum dynamics, based on the quantum brachistochrone and matrix mechanics. We derive the explicit time dependence of the Hamiltonian operator for a number of constrained…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…