相关论文: A variable rest length impedance grasping strategy…
This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then,…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
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…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
The numerical simulation of the inviscid Burgers' equation is often hindered by spurious oscillations near discontinuities. To mitigate this issue, a viscous term can be introduced, leading to the viscous Burgers' equation. In this work,…
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…
We investigate optimal control of linear port-Hamiltonian systems with control constraints, in which one aims to perform a state transition with minimal energy supply. Decomposing the state space into dissipative and non-dissipative (i.e.…
Formulations of open physical systems within the framework of Non-Equilibrium Reversible/Irreversible Coupling (associated with the acronym "GENERIC") is related in this work with state-space realizations that are given as boundary…
This letter presents a shifted passivity analysis of the single-machine infinite-bus system in the stationary ($\alpha\beta$) reference frame. We study the attractivity of a periodic synchronous steady state with constant rotor frequency…
We investigate the time-evolution of elastoplastic materials reinforced by randomly distributed long-range interactions. Starting from a rate-independent system on a discrete spring lattice that combines local linearized elasticity,…
It is a universal phenomenon that the state and input of the continuous stirred tank reactor (CSTR) systems are both disturbed. This paper proposes a (state, input)-disturbed port-Hamiltonian framework that can be used to model and further…
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…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
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…
This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main…
Port-Hamiltonian systems (PHS) theory is a recent but already well-established modelling approach for non-linear physical systems. Some studies have shown lately that PHS frameworks are relevant for modelling and control of swarm and…
Port-Hamiltonian systems result from port-based network modeling of physical systems and are an important example of passive state-space systems. In this paper, we develop the framework for model reduction of large-scale…