Related papers: Port-Hamiltonian Systems with Dissipation Potentia…
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control…
This paper reports a development in the proper symplectic decomposition (PSD) for model reduction of forced Hamiltonian systems. As an analogy to the proper orthogonal decomposition (POD), PSD is designed to build a symplectic subspace to…
It is well known that any port-Hamiltonian (pH) system is passive, and conversely, any minimal and stable passive system has a pH representation. Nevertheless, this equivalence is only concerned with the input-output mapping but not with…
Learning dynamical systems through purely data-driven methods is challenging as they do not learn the underlying conservation laws that enable them to correctly generalize. Existing port-Hamiltonian neural network methods have recently been…
The modeling framework of port-Hamiltonian descriptor systems and their use in numerical simulation and control are discussed. The structure is ideal for automated network-based modeling since it is invariant under power-conserving…
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…
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…
Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mechanical systems. Despite its theoretical appeal,…
Simulations of nano- to micro-meter scale fluidic systems under thermal gradients require consistent mesoscopic methods accounting for both hydrodynamic interactions and proper transport of energy. One such method is dissipative particle…
A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions,…
This article presents a new numerical scheme for the discretization of dissipative particle dynamics with conserved energy. The key idea is to reduce elementary pairwise stochastic dynamics (either fluctuation/dissipation or thermal…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
Implicit representations of finite-dimensional port-Hamiltonian systems are studied from the perspective of their use in numerical simulation and control design. Implicit representations arise when a system is modeled in Cartesian…
Smoothed Dissipative Particle Dynamics (SDPD) is a mesoscopic particle method which allows to select the level of resolution at which a fluid is simulated. The numerical integration of its equations of motion still suffers from the lack of…
The relationship between different dissipativity concepts for linear time-varying systems is studied, in particular between port-Hamiltonian systems, passive systems, and systems with nonnegative supply. It is shown that linear time-varying…
Modeling the dynamics of flexible objects has become an emerging topic in the community as these objects become more present in many applications, e.g., soft robotics. Due to the properties of flexible materials, the movements of soft…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
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 present the structure-preserving discretization of linear one-dimensional port-Hamiltonian (PH) systems of two conservation laws using discontinuous Galerkin (DG) methods. We recall the DG discretization procedure which…