Improved potential energy-shaping for port-controlled Hamiltonian systems

作     者：Liangcheng CAI Yong HE Min WU Jinhua SHE 

作者机构：School of Information Science and EngineeringCentral South UniversityChangsha Hunan 410083China Hunan Engineering Laboratory for Advanced Control and Intelligent AutomationChangsha Hunan 410083China School of the Computer ScienceTokyo University of TechnologyTokyo 192-0982Japan 

出 版 物：《控制理论与应用（英文版）》 (Journal of Control Theory and Applications)

年 卷 期：2012年第10卷第3期

页      面：385-390页

核心收录：

学科分类：0808[工学-电气工程] 07[理学] 08[工学] 070104[理学-应用数学] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0701[理学-数学] 080101[工学-一般力学与力学基础] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0801[工学-力学（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China(Nos.61125301 60974026) 

主　　题：Port-controlled Hamiltonian (PCH) systems Improved potential energy-shaping (IPES) Asymptoticalstabilization 

摘      要：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.