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   Articles with "port hamiltonian" as a keyword



On higher-order linear Port-Hamiltonian Systems and their duals

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recommendations! Published in 2017 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2017.08.1283

Abstract: Abstract We formulate a behavioral approach to higher-order linear port-Hamiltonian systems. We formalize constitutive laws such as power conservation, storage and (anti-)dissipative relations, and we study several properties of such systems. We also define the… read more here.

Keywords: order linear; port hamiltonian; higher order; linear port ... See more keywords

Analysis of Modified Repetitive Control Schemes: the Port-Hamiltonian Approach

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recommendations! Published in 2018 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2018.06.030

Abstract: Abstract Repetitive Control (RC) schemes are described by systems of coupled PDEs and ODEs and, in this paper, their stability analysis relies on the modularity of the port-Hamiltonian framework to characterise a family of linear… read more here.

Keywords: control schemes; repetitive control; control; analysis ... See more keywords

Modelling and structure-preserving discretization of Maxwell’s equations as port-Hamiltonian system

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.1355

Abstract: Abstract The modelling and discretization of the boundary controlled 3D Maxwell’s equations as a port-Hamiltonian system is addressed. The proposed scheme, based on the Partitioned Finite Element Method (PFEM), originally proposed in Cardoso-Ribeiro et al.… read more here.

Keywords: equations port; discretization; maxwell equations; port hamiltonian ... See more keywords

On Linear Quadratic Regulation of Linear Port-Hamiltonian Systems

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.343

Abstract: Abstract The linear quadratic regulator is a widely used and studied optimal control technique for the control of linear dynamical systems. It consists in minimizing a quadratic cost functional of the states and the control… read more here.

Keywords: control; linear quadratic; quadratic regulator; hamiltonian systems ... See more keywords
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Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots

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recommendations! Published in 2022 at "Mechanism and Machine Theory"

DOI: 10.1016/j.mechmachtheory.2021.104577

Abstract: Abstract This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time-delay and saturation constraint affect the control… read more here.

Keywords: extended state; port hamiltonian; time; controller ... See more keywords

Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory

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recommendations! Published in 2020 at "Ocean Engineering"

DOI: 10.1016/j.oceaneng.2020.107402

Abstract: Abstract This paper addresses the tracking control problem of unmanned underwater vehicles under the condition of external disturbances and unmodeled dynamics using Port-Hamiltonian theory. By introducing Port-Hamiltonian theory, conventional UUVs dynamics can be transformed into… read more here.

Keywords: hamiltonian theory; port hamiltonian; tracking control;
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Geometric and energy-aware decomposition of the Navier–Stokes equations: A port-Hamiltonian approach

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recommendations! Published in 2021 at "Physics of Fluids"

DOI: 10.1063/5.0048359

Abstract: A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by the use of tensor-valued differential forms that allow us to describe the interconnection of the power… read more here.

Keywords: geometric energy; stokes equations; port hamiltonian; energy aware ... See more keywords

Distributed parameter systems - new methods for modelling and control

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recommendations! Published in 2017 at "Mathematical and Computer Modelling of Dynamical Systems"

DOI: 10.1080/13873954.2016.1232291

Abstract: System analysis and control for systems described by partial differential equations (PDEs) is undoubtedly a challenging research area and a lot of progress has been achieved recently. Nevertheless, compared to the methods that are available… read more here.

Keywords: distributed parameter; energy; control; parameter systems ... See more keywords

Port-Hamiltonian reduced order modelling of the 2D Maxwell equations

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recommendations! Published in 2025 at "COMPEL - The international journal for computation and mathematics in electrical and electronic engineering"

DOI: 10.1108/compel-10-2024-0421

Abstract: Purpose This study aims to develop a systematic and efficient method for modeling and reducing the computational complexity of the Maxwell equations in 2D. By maintaining the port-Hamiltonian structure in both the full order model… read more here.

Keywords: methodology; maxwell equations; model; port hamiltonian ... See more keywords

Modeling of a Six-Bar Tensegrity Robot Using the Port-Hamiltonian Framework and Experimental Validation

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3381819

Abstract: Existing tensegrity robot modeling predominantly relies on cable length as the primary control input, making it intractable for implementation on motor-driven physical systems. In addition, the current models lack precise formulations for intricate environmental interactions,… read more here.

Keywords: tensegrity robot; bar tensegrity; tensegrity; six bar ... See more keywords

Riemannian Optimal Control and Model Matching of Linear Port-Hamiltonian Systems

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recommendations! Published in 2017 at "IEEE Transactions on Automatic Control"

DOI: 10.1109/tac.2017.2712905

Abstract: This paper presents a unified controller design method for $H^2$ optimal control and model matching problems of linear port-Hamiltonian systems. The controller design problems are formulated as optimization problems on the product manifold of the… read more here.

Keywords: control; model matching; port hamiltonian; linear port ... See more keywords