相关论文: Infinite-dimensional linear port-Hamiltonian syste…
We discuss a class of linear control problems in a Hilbert space setting. This class encompasses such diverse systems as port-Hamiltonian systems, Maxwell's equations with boundary control or the acoustic equations with boundary control and…
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
The R-matrix formalism for the construction of integrable systems with infinitely many degrees of freedom is reviewed. Its application to Poisson, noncommutative and loop algebras as well as central extension procedure are presented. The…
We characterize stable differential-algebraic equations (DAEs) using a generalized Lyapunov inequality. The solution of this inequality is then used to rewrite stable DAEs as dissipative Hamiltonian (dH) DAEs on the subspace where the…
We propose a geometrical approach to the investigation of Hamiltonian systems on (Pseudo) Riemannian manifolds. A new geometrical criterion of instability and chaos is proposed. This approach is more generic than well known reduction to the…
We develop two local energy methods for distributed parameter port-Hamiltonian (pH) systems on one-dimensional spatial domains. The methods are applied to derive a characterization of exponential stability directly in terms of the energy…
In this paper, we present a control-design method based on the energy-Casimir method for infinite-dimensional, boundary-actuated port-Hamiltonian systems with two-dimensional spatial domain and second-order Hamiltonian. The resulting…
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.…
In this paper, we investigate the well-posedness theory and exponential stability for the inhomogeneous incompressible Navier-Stokes equation with only horizontal dissipative structure. Due to the lack of the vertical dissipative term and…
In this paper, we study infinite dimensional stochastic systems having both unbounded control and observation operators. First of all, using a semigroup approach, we give another take of the well-posedness of such systems treated in [SIAM…
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…
Infinite-dimensional differential algebraic equations (short DAEs) with input and output are studied. The concepts of operator nodes and system nodes are extended to systems which additionally may include algebraic constraints.…
We regard the Cauchy problem for a particular Whitham-Boussinesq system modelling surface waves of an inviscid incompressible fluid layer. The system can be seen as a weak nonlocal dispersive perturbation of the shallow water system. The…
A well-specified parametrization for single-input/single-output (SISO) linear port-Hamiltonian systems amenable to structure-preserving supervised learning is provided. The construction is based on controllable and observable normal form…
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…
We study a class of non-autonomous boundary control and observation linear systems that are governed by non-autonomous multiplicative perturbations. This class is motivated by different fundamental partial differential equations, such as…
We present Oseen equations on Lipschitz domains in a port-Hamiltonian context. Such equations arise, for instance, by linearization of the Navier-Stokes equations. In our setup, the external port consists of the boundary traces of velocity…
First, two examples of 1D distributed port-Hamiltonian systems with dissipation, given in explicit (descriptor) form, are considered: the Dzekster model for the seepage of underground water and a nanorod model with non-local viscous…