相关论文: Port-Hamiltonian systems with energy and power por…

In this paper we extend the previously introduced class of boundary port-Hamiltonian systems to boundary control systems where the variational derivative of the Hamiltonian functional is replaced by a pair of reciprocal differential…

After recalling standard nonlinear port-Hamiltonian systems and their algebraic constraint equations, called here Dirac algebraic constraints, an extended class of port-Hamiltonian systems is introduced. This is based on replacing the…

Motivated by recent work in this area we expand on a generalization of port-Hamiltonian systems that is obtained by replacing the Hamiltonian function representing energy storage by a general Lagrangian subspace. This leads to a new class…

In this paper, we extend the port-Hamiltonian framework by introducing the concept of Stokes-Lagrange structure, which enables the implicit definition of a Hamiltonian over an $N$-dimensional domain and incorporates energy ports into the…

Port-Hamiltonian systems theory provides a structured approach to modelling, optimization and control of multiphysical systems. Yet, its relationship to thermodynamics seems to be unclear. The Hamiltonian is traditionally thought of as…

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…

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…

In the present work we formally extend the theory of port-Hamiltonian systems to include random perturbations. In particular, suitably choosing the space of flow and effort variables we will show how several elements coming from possibly…

Many mechanical systems are large and complex, despite being composed of simple subsystems. In order to understand such large systems it is natural to tear the system into these subsystems. Conversely we must understand how to invert this…

In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…

We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator…

Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…

This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known…

We introduce the concept of Hamiltonian potential variables to map Hamiltonian operators into symplectic operators in a dual space. This generalises the classical trick of switching to a potential variable to obtain a Lagrangian density for…

This paper clarifies a global structure of Stokes-Dirac structures used for describing interconnected port-Hamiltonian systems defined on manifolds with non-trivial topology under consistent boundary condition.

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…

Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting from the group of diffeomorphisms as a configuration space for…

Simplicial Dirac structures as finite analogues of the canonical Stokes-Dirac structure, capturing the topological laws of the system, are defined on simplicial manifolds in terms of primal and dual cochains related by the coboundary…

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…

Phase space of General Relativity is extended to a Poisson manifold by inclusion of the determinant of the metric and conjugate momentum as additional independent variables. As a result, the action and the constraints take a polynomial…