Related papers: Port-Hamiltonian multibody dynamics: Lagrangian fo…
We combine energy-stable and port-Hamiltonian (pH) systems to obtain energy-stable port-Hamiltonian (espH) systems. The idea is to extend the known energy-stable systems with an input-output port, which results in a pH formulation. One…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
We investigate an energy-based formulation of the two-field poroelasticity model and the related multiple-network model as they appear in geosciences or medical applications. We propose a port-Hamiltonian formulation of the system…
Various formulations of smooth-particle hydrodynamics (SPH) have been proposed, intended to resolve certain difficulties in the treatment of fluid mixing instabilities. Most have involved changes to the algorithm which either introduce…
This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…
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…
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…
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…
We examine interpolatory model reduction methods that are well-suited for treating large scale port-Hamiltonian differential-algebraic systems in a way that is able to preserve and indeed, take advantage of the underlying structural…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
In this two-parts paper, we present a systematic procedure to extend the known Hamiltonian model of ideal inviscid fluid flow on Riemannian manifolds in terms of Lie-Poisson structures to a port-Hamiltonian model in terms of Stokes-Dirac…
In this paper, we extend the port-Hamiltonian framework by introducing the concept of Stokes-Lagrange structure, which enables the implicit definition of a Hamiltonian over an $N$-dimensional domain and incorporates energy ports into the…
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 present a novel physics-informed system identification method to construct a passive linear time-invariant system. In more detail, for a given quadratic energy functional, measurements of the input, state, and output of a system in the…
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…
The port-Hamiltonian formulation is a powerful method for modeling and interconnecting systems of different natures. In this paper, the port-Hamiltonian formulation in tensorial form of a thick plate described by the Mindlin-Reissner model…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
The direct-forcing immersed boundary method (DF-IBM) algorithm previously developed by the authors is extended by coupling the Navier-Stokes equations with the Newton-Euler equations for rigid body dynamics within the DF-IBM framework. This…