Interconnection and damping assignment for implicit port-Hamiltonian systems
Por:
Castaños F., Gromov D.
Publicada:
1 ene 2015
Categoría:
Control and systems engineering
Resumen:
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). © 2015
Filiaciones:
Castaños F.:
Automatic Control Department, Cinvestav Del IPN, México D.F., Mexico
Gromov D.:
Faculty of Applied Mathematics, St. Petersburg State University, St. Petersburg, Russian Federation
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