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energy shaping for coordinating internally actuated vehicles

Theoretical & Applied Mechanics Letters 2011年第2期1卷 76-80页

作者： Fan Wu~(a) and Zhiyong Geng~(b) The State Key Laboratory for Turbulence and Complex Systems,Peking University,Beijing 100871,China The State Key Laboratory for Turbulence and Complex Systems Peking University Beijing 100871 China

This paper considers the stable coordination problem of two vehicles equipping with internal moving mass *** coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motiva... 详细信息

关键词： moving mass actuator under actuated energy shaping stabilization

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energy shaping for Stably Coordinating Internally Actuated Underwater Vehicles

Energy Shaping for Stably Coordinating Internally Actuated U...

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第三十届中国控制会议

作者： WU Fan,GENG Zhiyong The State Key Laboratory for Turbulence and Complex Systems,College of Engineering, Peking University,Beijing 100871,P.R.China

＜正＞This paper considers the problem of stabilization and coordination for underwater vehicles using internal moving mass *** underwater vehicle（UV） is modeled as a neutrally buoyant,bottom-heavy,submerged rigid body in an ideal *** force of interaction between the UV and internal moving mass destabilizes UV’s steady translation along its long axis if the moving mass is allowed to move freely inside the UV ***,this interaction force can also be treated as a control *** shaping is applied to control the motion of moving mass relative to the UV body such that the UV’s steady long axis translation with a designated attitude is *** proposed method is extended to design control laws to coordinate steady motions of multiple UVs.

关键词： Moving Mass Actuator energy shaping Stabilization Coordination

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energy shaping for Coordinating Internally Actuated Vehicles

Energy Shaping for Coordinating Internally Actuated Vehicles

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2011 Chinese Control and Decision Conference（CCDC）

作者： Fan Wu is with the State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Beijing 100871 Zhiyong Geng is with the State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Beijing 100871

This paper considers the problem of steady motion stabilization and coordination for two vehicles with internal moving mass *** coordinating and stabilizing control laws are derived using energy shaping in the context... 详细信息

关键词： Moving Mass Actuator Underactuated energy shaping Stabilization

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Application of energy shaping of Port-Hamiltonian System to Chaos Synchronization

Application of Energy Shaping of Port-Hamiltonian System to ...

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第40届中国控制会议

作者： Bin Zheng Jianping Cai Jin Zhou Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in energy Engineering School of Mechanics and Engineering ScienceShanghai University School of Mathematics and Statistics Minnan Normal University

This paper investigates the issue of chaos synchronization of coupled dynamical systems by the use of energy shaping in port-Hamiltonian systems. A energy-based control scheme is developed to realize chaos synchronization in term of portHamiltonian systems, and the asymptotical stability for the closed-loop Hamiltonian system is derived by using the La Salle’s invariance principle. It is shown that the developed energy-based synchronization scheme is relatively simple and easy to implement compared with some recent literatures. Finally, two simulation examples are performed to demonstrate the effectiveness of the proposed synchronization strategy method.

关键词： Chaos synchronization Port-Hamiltonian system energy shaping La Salle’s invariance principle

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Suboptimal H∞ Control of Hamiltonian Systems

Suboptimal H∞ Control of Hamiltonian Systems

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第二十四届中国控制会议

作者： Yuqian Guo, Daizhan Cheng Institute of Systems Science, Chinese Academy of Sciences, Beijing 100080, P.R. China

In this paper, suboptimal Hcontrol problem of port-controlled Hamiltonian systems is investigated. Firstly, the energy function of a Hamiltonian system is shaped by embedding the closed-loop system with a suitable feedback into an extended system. Then, by regarding the shaped energy function as a candidate solution to HJI inequality, a control law is obtained to solve the suboptimal Hproblem.

关键词： energy shaping Casimir function H∞ control

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