Interconnection and damping assignment for implicit port-Hamiltonian systems∗∗The work of the second author was supported by the research grant 9.50.1197.2014 from the St. Petersburg State University.

Authors

Abstract

Implicit port-Hamiltonian representations of mechanical systems are considered from a control perspective. Energy shaping is used for the purpose of stabilizing a desired equilibrium. When using implicit models, the problem turns out to be a simple quadratic programming problem (as opposed to the partial differential equations that need to be solved when using explicit representations).

Keywords

Hamiltonian Dynamics; Holonomic Constraints; Implicit Models; Passivity; Pendulum; Cart-Pole

Citation

Journal: IFAC-PapersOnLine
Year: 2015
Volume: 48
Issue: 11
Pages: 1006–1011
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2015.09.324
Note: 1st IFAC Conference onModelling, Identification andControl of Nonlinear SystemsMICNON 2015- Saint Petersburg, Russia, 24-26 June 2015

BibTeX

@article{Casta_os_2015,
  title={{Interconnection and damping assignment for implicit port-Hamiltonian systems∗∗The work of the second author was supported by the research grant 9.50.1197.2014 from the St. Petersburg State University.}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.09.324},
  number={11},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Castaños, Fernando and Gromov, Dmitry},
  year={2015},
  pages={1006--1011}
}

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References

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