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Improved potential energy-shaping for port-controlled Hamiltonian systems
  • 期刊名称：Journal of Control Theory and Applications
  • 时间：0
  • 页码：385-390
  • 分类：O175.1[理学—数学;理学—基础数学] O321[理学—一般力学与力学基础;理学—力学]
  • 作者机构：[1]School of Information Science and Engineering, Central South University, Changsha Hunan 410083, China, [2]Hunan Engineering Laboratory for Advanced Control and Intelligent Automation, Changsha Hunan 410083, China, [3]School of the Computer Science, Tokyo University of Technology, Tokyo 192-0982, Japan
  • 相关基金：This work was partly supported by the National Natural Science Foundation of China （Nos. 61125301, 60974026）.
  • 相关项目：基于泛函微分方程的神经与基因调控网络研究
作者： Cai Liangcheng|He Yong |Wu Min|She Jinhua |
关键词： 哈密顿系统, 势能, 受控, 端口, 整形, 哈密顿函数, 稳定控制器, 动能, Port-controlled Hamiltonian （PCH） systems, Improved potential energy-shaping （IPES）, Asymptoticalstabilization
中文摘要：

这份报纸经由改进潜力调查控制港口的 Hamiltonian (PCH ) 系统的 asymptotical 稳定塑造精力(IPES ) 方法。首先，及物的 Hamiltonian 功能介绍的需要的势能被加到原来的动能产出需要的 Hamiltonian 功能。第二，一个 asymptotically 稳定的控制器与获得的 Hamiltonian 功能基于一个新匹配方程被设计。最后，一个数字例子被给显示出建议方法的有效性。

英文摘要：

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.

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基于泛函微分方程的神经与基因调控网络研究
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