Improved potential energy-shaping for port-controlled Hamiltonian systems
Abstract 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 d...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Cai, Liangcheng [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2012 |
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| Schlagwörter: |
Port-controlled Hamiltonian (PCH) systems |
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| Anmerkung: |
© South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of control theory and applications - Guangzhou, 2003, 10(2012), 3 vom: 01. Juli, Seite 385-390 |
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| Übergeordnetes Werk: |
volume:10 ; year:2012 ; number:3 ; day:01 ; month:07 ; pages:385-390 |
| Links: |
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| DOI / URN: |
10.1007/s11768-012-0282-9 |
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| Katalog-ID: |
SPR022314105 |
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| 035 | |a (DE-627)SPR022314105 | ||
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| 100 | 1 | |a Cai, Liangcheng |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a Improved potential energy-shaping for port-controlled Hamiltonian systems |
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| 500 | |a © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 | ||
| 520 | |a Abstract 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. | ||
| 650 | 4 | |a Port-controlled Hamiltonian (PCH) systems |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Improved potential energy-shaping (IPES) |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Asymptotical stabilization |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a He, Yong |4 aut | |
| 700 | 1 | |a Wu, Min |4 aut | |
| 700 | 1 | |a She, Jinhua |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Journal of control theory and applications |d Guangzhou, 2003 |g 10(2012), 3 vom: 01. Juli, Seite 385-390 |w (DE-627)529093456 |w (DE-600)2299595-X |x 1993-0623 |7 nnns |
| 773 | 1 | 8 | |g volume:10 |g year:2012 |g number:3 |g day:01 |g month:07 |g pages:385-390 |
| 856 | 4 | 0 | |u https://dx.doi.org/10.1007/s11768-012-0282-9 |z lizenzpflichtig |3 Volltext |
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2012 |
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2012 |
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10.1007/s11768-012-0282-9 doi (DE-627)SPR022314105 (SPR)s11768-012-0282-9-e DE-627 ger DE-627 rakwb eng Cai, Liangcheng verfasserin aut Improved potential energy-shaping for port-controlled Hamiltonian systems 2012 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 Abstract 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. Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 He, Yong aut Wu, Min aut She, Jinhua aut Enthalten in Journal of control theory and applications Guangzhou, 2003 10(2012), 3 vom: 01. Juli, Seite 385-390 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:10 year:2012 number:3 day:01 month:07 pages:385-390 https://dx.doi.org/10.1007/s11768-012-0282-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_266 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_636 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4277 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4346 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4393 GBV_ILN_4700 GBV_ILN_4753 AR 10 2012 3 01 07 385-390 |
| spelling |
10.1007/s11768-012-0282-9 doi (DE-627)SPR022314105 (SPR)s11768-012-0282-9-e DE-627 ger DE-627 rakwb eng Cai, Liangcheng verfasserin aut Improved potential energy-shaping for port-controlled Hamiltonian systems 2012 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 Abstract 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. Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 He, Yong aut Wu, Min aut She, Jinhua aut Enthalten in Journal of control theory and applications Guangzhou, 2003 10(2012), 3 vom: 01. Juli, Seite 385-390 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:10 year:2012 number:3 day:01 month:07 pages:385-390 https://dx.doi.org/10.1007/s11768-012-0282-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_266 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_636 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4277 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4346 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4393 GBV_ILN_4700 GBV_ILN_4753 AR 10 2012 3 01 07 385-390 |
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10.1007/s11768-012-0282-9 doi (DE-627)SPR022314105 (SPR)s11768-012-0282-9-e DE-627 ger DE-627 rakwb eng Cai, Liangcheng verfasserin aut Improved potential energy-shaping for port-controlled Hamiltonian systems 2012 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 Abstract 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. Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 He, Yong aut Wu, Min aut She, Jinhua aut Enthalten in Journal of control theory and applications Guangzhou, 2003 10(2012), 3 vom: 01. Juli, Seite 385-390 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:10 year:2012 number:3 day:01 month:07 pages:385-390 https://dx.doi.org/10.1007/s11768-012-0282-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_266 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_636 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4277 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4346 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4393 GBV_ILN_4700 GBV_ILN_4753 AR 10 2012 3 01 07 385-390 |
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10.1007/s11768-012-0282-9 doi (DE-627)SPR022314105 (SPR)s11768-012-0282-9-e DE-627 ger DE-627 rakwb eng Cai, Liangcheng verfasserin aut Improved potential energy-shaping for port-controlled Hamiltonian systems 2012 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 Abstract 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. Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 He, Yong aut Wu, Min aut She, Jinhua aut Enthalten in Journal of control theory and applications Guangzhou, 2003 10(2012), 3 vom: 01. Juli, Seite 385-390 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:10 year:2012 number:3 day:01 month:07 pages:385-390 https://dx.doi.org/10.1007/s11768-012-0282-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_266 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_636 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4277 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4346 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4393 GBV_ILN_4700 GBV_ILN_4753 AR 10 2012 3 01 07 385-390 |
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10.1007/s11768-012-0282-9 doi (DE-627)SPR022314105 (SPR)s11768-012-0282-9-e DE-627 ger DE-627 rakwb eng Cai, Liangcheng verfasserin aut Improved potential energy-shaping for port-controlled Hamiltonian systems 2012 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 Abstract 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. Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 He, Yong aut Wu, Min aut She, Jinhua aut Enthalten in Journal of control theory and applications Guangzhou, 2003 10(2012), 3 vom: 01. Juli, Seite 385-390 (DE-627)529093456 (DE-600)2299595-X 1993-0623 nnns volume:10 year:2012 number:3 day:01 month:07 pages:385-390 https://dx.doi.org/10.1007/s11768-012-0282-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_121 GBV_ILN_138 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_266 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_374 GBV_ILN_602 GBV_ILN_636 GBV_ILN_647 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2018 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2036 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_2700 GBV_ILN_2817 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4277 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4346 GBV_ILN_4367 GBV_ILN_4392 GBV_ILN_4393 GBV_ILN_4700 GBV_ILN_4753 AR 10 2012 3 01 07 385-390 |
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Enthalten in Journal of control theory and applications 10(2012), 3 vom: 01. Juli, Seite 385-390 volume:10 year:2012 number:3 day:01 month:07 pages:385-390 |
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Enthalten in Journal of control theory and applications 10(2012), 3 vom: 01. Juli, Seite 385-390 volume:10 year:2012 number:3 day:01 month:07 pages:385-390 |
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Port-controlled Hamiltonian (PCH) systems Improved potential energy-shaping (IPES) Asymptotical stabilization |
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Cai, Liangcheng @@aut@@ He, Yong @@aut@@ Wu, Min @@aut@@ She, Jinhua @@aut@@ |
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|
| author |
Cai, Liangcheng |
| spellingShingle |
Cai, Liangcheng misc Port-controlled Hamiltonian (PCH) systems misc Improved potential energy-shaping (IPES) misc Asymptotical stabilization Improved potential energy-shaping for port-controlled Hamiltonian systems |
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| topic_title |
Improved potential energy-shaping for port-controlled Hamiltonian systems Port-controlled Hamiltonian (PCH) systems (dpeaa)DE-He213 Improved potential energy-shaping (IPES) (dpeaa)DE-He213 Asymptotical stabilization (dpeaa)DE-He213 |
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misc Port-controlled Hamiltonian (PCH) systems misc Improved potential energy-shaping (IPES) misc Asymptotical stabilization |
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misc Port-controlled Hamiltonian (PCH) systems misc Improved potential energy-shaping (IPES) misc Asymptotical stabilization |
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Improved potential energy-shaping for port-controlled Hamiltonian systems |
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Improved potential energy-shaping for port-controlled Hamiltonian systems |
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Cai, Liangcheng |
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Journal of control theory and applications |
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Cai, Liangcheng He, Yong Wu, Min She, Jinhua |
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Elektronische Aufsätze |
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Cai, Liangcheng |
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10.1007/s11768-012-0282-9 |
| title_sort |
improved potential energy-shaping for port-controlled hamiltonian systems |
| title_auth |
Improved potential energy-shaping for port-controlled Hamiltonian systems |
| abstract |
Abstract 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. © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 |
| abstractGer |
Abstract 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. © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 |
| abstract_unstemmed |
Abstract 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. © South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012 |
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Improved potential energy-shaping for port-controlled Hamiltonian systems |
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https://dx.doi.org/10.1007/s11768-012-0282-9 |
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He, Yong Wu, Min She, Jinhua |
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He, Yong Wu, Min She, Jinhua |
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| doi_str |
10.1007/s11768-012-0282-9 |
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2024-07-04T02:38:37.294Z |
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| score |
7.40028 |