相关论文: Energy-based Control and Observer Design for highe…
As is well known, energy is generally deemed as one of the most important physical invariants in many conservative problems and hence it is of remarkable interest to consider numerical methods which are able to preserve it. In this paper,…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
Recently finite-dimensional observer-based controllers were introduced for the 1D heat equation, where at least one of the observation or control operators is bounded. In this paper, for the first time, we manage with such controllers for…
The paper is devoted to the observability study of a dynamic system, which describes the vibrations of an elastic beam with an attached rigid body and distributed control actions. The mathematical model is derived using Hamilton's principle…
A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by use of tensor-valued differential forms that allow to describe describe the…
We address a class of systems for which the solution to an H-infinity optimal control problem can be given on a very simple closed form. In fact, both the control law and optimal performance value are explicitly given. The class of systems…
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…
A solution to the quantum Zermelo problem for control Hamiltonians with general energy resource bounds is provided. Interestingly, the energy resource of the control Hamiltonian and the control time define a pair of conjugate variables that…
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…
We present a novel methodology for constructing arbitrarily high-order structure-preserving methods tailored for damped Hamiltonian systems. This method combines the idea of exponential integrator and energy-preserving collocation methods,…
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 paper we are concerned with energy-conserving methods for Poisson problems, which are effectively solved by defining a suitable generalization of HBVMs, a class of energy-conserving methods for Hamiltonian problems. The actual…
Observer design is considered for a class of non-linear systems whose non-linear part is energy preserving. A strategy to construct convergent observers for this class of non-linear system is presented. The approach has the advantage that…
The evolution of a quantum system under time-dependent driving exhibits phenomena that are absent in its stationary counterpart. However, the high dimensionality and non-commutative nature of quantum dynamics make this a challenging…
We study $H_\infty$ control design for linear time-invariant port-Hamiltonian systems. By a modification of the two central algebraic Riccati equations, we ensure that the resulting controller will be port-Hamiltonian. Using these modified…
In this paper we consider the optimal control of Hilbert space-valued infinite-dimensional Piecewise Deterministic Markov Processes (PDMP) and we prove that the corresponding value function can be represented via a Feynman-Kac type formula…
This paper is concerned with a class of open quantum systems whose dynamic variables have an algebraic structure, similar to that of the Pauli matrices pertaining to finite-level systems. The system interacts with external bosonic fields,…
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping…
In plasma physics, a hybrid fluid-kinetic model is composed of a magnetohydrodynamics (MHD) part that describes a bulk fluid component and a Vlasov kinetic theory part that describes an energetic plasma component. While most hybrid models…
We numerically test an experimentally realizable method for the extraction of the critical Casimir force based on its thermodynamic definition as the derivative of the excess free energy with respect to system size. Free energy differences…