Improved potential energy-shaping for port-controlled Hamiltonian systems

This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Ha...

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Bibliographic Details
Published in:Journal of control theory and applications 2012-08, Vol.10 (3), p.385-390
Main Authors: Cai, Liangcheng, He, Yong, Wu, Min, She, Jinhua
Format: Article
Language:English
Subjects:
Asymptotic properties
Brief Papers
Complexity
Computational Intelligence
Control
Control and Systems Theory
Control theory
Engineering
Hamiltonian functions
Kinetic energy
Mathematical analysis
Mathematical models
Mechatronics
Optimization
Potential energy
Robotics
Stabilization
Systems Theory
动能
势能
受控
哈密顿函数
哈密顿系统
整形
稳定控制器
端口
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Summary:This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.
ISSN:1672-6340
1993-0623
DOI:10.1007/s11768-012-0282-9