相关论文: Weak-Hamiltonian dynamical systems
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…
Passive systems are characterized by their inability to generate energy internally, providing a powerful tool for modeling physical phenomena. Additionally, algebraically encoding passivity in the system description can be advantageous. For…
A goal of this work is to study the dynamics in the complement of KAM tori with focus on non-local robust transitivity. We introduce $C^r$ open sets ($r=1, 2, ..., \infty$) of symplectic diffeomorphisms and Hamiltonian systems, exhibiting…
In order to describe the impact of different geometric structures and constraints for the dynamics of a regular controlled Hamiltonian system, in this paper, we first define a kind of controlled magnetic Hamiltonian (CMH) system, and give a…
We investigate integrable 2-dimensional Hamiltonian systems with scalar and vector potentials, admitting second invariants which are linear or quadratic in the momenta. In the case of a linear second invariant, we provide some examples of…
Transient stability is crucial to the reliable operation of power systems. Existing theories rely on the simplified electromechanical models, substituting the detailed electromagnetic dynamics of inductor and capacitor with their impedance…
In this work, we conduct a systematic study of Hamiltonian and quasi-Hamiltonian systems within the framework of nondecomposable generalized Poisson geometry. Our focus lies on the interplay between the algebraic structure of…
We review recent progress in understanding nearly integrable models within the framework of generalized hydrodynamics (GHD). Integrable systems have infinitely many conserved quantities and stable quasiparticle excitations: when…
Infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial domain with full boundary control and without internal damping are studied. This class of systems includes models of beams and waves as well as the transport…
We provide an introduction to infinite-dimensional port-Hamiltonian systems. As this research field is quite rich, we restrict ourselves to the class of infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial…
We use the structure theory of minimal dynamical systems to show that, for a general group $\Gamma$, a tame, metric, minimal dynamical system $(X, \Gamma)$ has the following structure: \begin{equation*} \xymatrix {& \tilde{X} \ar[dd]_\pi…
A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled…
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…
We give insight in the structure of port-Hamiltonian systems as control systems in between two closed Hamiltonian systems. Using the language of category theory, we identify systems with their behavioural representation and view a…
Weakly chaotic or weakly interacting systems have a wide regime where the common random matrix theory modeling does not apply. As an example we consider cold atoms in a nearly integrable optical billiard with displaceable wall ("piston").…
A reduced dynamical model is derived which describes the interaction of weak inertia-gravity waves with nonlinear vortical motion in the context of rotating shallow-water flow. The formal scaling assumptions are (i) that there is a…
The aim of this paper is to introduce a class of Hamiltonian autonomous systems in dimension 4 which are completely integrable and their dynamics is described in all details. They have an equilibrium point which is stable for some rare…
Multibody dynamics simulation plays an important role in various fields, including mechanical engineering, robotics, and biomechanics. Setting up computational models however becomes increasingly challenging as systems grow in size and…
We explore the notion of discrete spectrum and its various characterizations for ergodic measure-preserving actions of an amenable group on a compact metric space. We introduce a notion of 'weak-tameness', which is a measure-theoretic…
We study port-Hamiltonian systems on a familiy of intervals and characterise all boundary conditions leading to $m$-accretive realisations of the port-Hamiltonian operator and thus to generators of contractive semigroups. The proofs are…