Extended Casimir Approach to Controlled Hamiltonian Systems

Authors

Abstract

In this paper, we first propose an extended Casimir method for energy-shaping. Then it is used to solve some control problems of Hamiltonian systems. To solve the H _∞ control problem, the energy function of a Hamiltonian system is shaped to such a form that could be a candidate solution of HJI inequality. Next, the energy function is shaped as a candidate of control ISS-Lyapunov function, and then the input-to-state stabilization of port-controlled Hamiltonian systems is achieved. Some easily verifiable sufficient conditions are presented.

Keywords

casimir function, control, energy-shaping, input-to-state stabilization

Citation

Journal: Journal of Systems Science and Complexity
Year: 2006
Volume: 19
Issue: 2
Pages: 211–218
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/s11424-006-0211-4

BibTeX

@article{Guo_2006,
  title={{Extended Casimir Approach to Controlled Hamiltonian Systems}},
  volume={19},
  ISSN={1559-7067},
  DOI={10.1007/s11424-006-0211-4},
  number={2},
  journal={Journal of Systems Science and Complexity},
  publisher={Springer Science and Business Media LLC},
  author={Guo, Yuqian and Cheng, Daizhan},
  year={2006},
  pages={211--218}
}

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References

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