Related papers: Port-Hamiltonian multibody dynamics: Lagrangian fo…
The relationships between port-Hamiltonian systems modeling and the notion of monotonicity are explored. The earlier introduced notion of incrementally port-Hamiltonian systems is extended to maximal cyclically monotone relations, together…
Model order reduction provides low-complexity high-fidelity surrogate models that allow rapid and accurate solutions of parametric differential equations. The development of reduced order models for parametric \emph{nonlinear} Hamiltonian…
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the companion paper [1]. The framework supports…
A hybrid framework is developed that highlights and unifies the most important aspects of the Noether correspondence between symmetries and conserved integrals in Lagrangian and Hamiltonian mechanics. Several main results are shown: (1) a…
The mechanical model of a thin plate with boundary control and observation is presented as a port-Hamiltonian system (pHs), both in vectorial and tensorial forms: the Kirchhoff-Love model of a plate is described by using a Stokes-Dirac…
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…
This study introduces a novel approach for deriving the governing equations of the musculoskeletal system in the human body. The proposed formalism offers a framework to effectively incorporate the kinematic characteristics of biological…
Within the framework of Lagrangian mechanics, the conservativeness of the hydrostatic forces acting on a floating rigid body is proved. The representation of the associated hydrostatic potential is explicitly worked out. The invariance of…
Port-Hamiltonian (pH) systems are a very important modeling tool in almost all areas of systems and control, in particular in network based model of multi-physics multi-scale systems. They lead to remarkably robust models that can be easily…
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 structure-preserving time-integrators for rigid body-type mechanical systems are derived from a discrete Hamilton-Pontryagin variational principle. From this principle one can derive a novel class of variational partitioned…
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…
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,…
A new approach to the construction of difference schemes of any order for the many-body problem that preserves all its algebraic integrals is proposed. We introduced additional variables, namely, distances and reciprocal distances between…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
This thesis deals with the formulation and analysis of two systems of conservation laws defined on two complementary intervals and coupled by some moving interface as a single infinite-dimensional port-Hamiltonian system. This approach may…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
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…