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Improved potential energy-shaping for port-controlled Hamiltonian systems

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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.

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Authors and Affiliations

  1. School of Information Science and Engineering, Central South University, Changsha Hunan, 410083, China

    Liangcheng Cai, Yong He & Min Wu

  2. Hunan Engineering Laboratory for Advanced Control and Intelligent Automation, Changsha Hunan, 410083, China

    Liangcheng Cai, Yong He & Min Wu

  3. School of the Computer Science, Tokyo University of Technology, Tokyo, 192-0982, Japan

    Jinhua She

Authors
  1. Liangcheng Cai
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  2. Yong He
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  3. Min Wu
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  4. Jinhua She
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Corresponding author

Correspondence to Liangcheng Cai.

Additional information

This work was partly supported by the National Natural Science Foundation of China (Nos. 61125301, 60974026).

Liangcheng CAI is a Ph.D. candidate in the Central South University, Changsha, China. His research interests are nonlinear control and Hamiltonian system control.

Yong HE received his B.S. and M.S. degrees, in Applied Mathematics from Central South University, Changsha, China in 1991 and 1994, respectively. He received his Ph.D. degree in Control Theory and Control Engineering from Central South University in 2004. He received the Guan Zhao-Zhi Award of the 26th Chinese Control Conference in 2007 (jointly with M. Wu, G. Liu and J. She). Currently, he is a professor in Central South University and his research interests are time-delay system control, robust control and network control.

Min WU received his B.S. and M.S. degrees in Engineering from Central South University, Changsha, China, in 1983 and 1986, respectively, and the Ph.D. degree in Engineering from Tokyo Institute of Technology, Tokyo, Japan, in 1999. He received the IFAC Control Engineering Practice Prize Paper Award in 1999 (together with M. Nakano and J. She). Currently, he is a professor in Central South University and his research interests are process control, robust control, and intelligent system.

Jinhua SHE received his B.S. degree in Engineering from Central South University, Changsha, China in 1983, and the M.S. and Ph.D. degrees in Engineering from Tokyo Institute of Technology, Tokyo, Japan, in 1990 and 1993, respectively. He received the IFAC Control Engineering Practice Paper Prize in 1999 (jointly with M. Wu and M. Nakano). Currently, he is a professor in Tokyo University of Technology and his research interests are robust control and repetitive control.

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Cai, L., He, Y., Wu, M. et al. Improved potential energy-shaping for port-controlled Hamiltonian systems. J. Control Theory Appl. 10, 385–390 (2012). https://doi.org/10.1007/s11768-012-0282-9

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  • DOI: https://doi.org/10.1007/s11768-012-0282-9

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