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Extended Casimir approach to controlled Hamiltonian systems
  • 时间：0
  • 分类：O231[理学—运筹学与控制论;理学—数学]
  • 作者机构：[1]Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100080, China.
  • 相关基金：Supported by the National Natural Science Foundation of China under Grants 60221301 and 60334040.
  • 相关项目：控制科学中若干关键基础问题的研究
关键词： H∞控制, 稳定性, 汉密尔顿函数, CASIMIR函数, Casimir function, Energy-shaping, H∞ control, Input-to-state stabilization.
中文摘要：

在这篇论文，我们首先建议扩大 Casimir 方法塑造 forenergy。然后，解决 Hamiltonian 系统的一些控制问题被用来。为了解决 theH_ ∞，控制问题，一个 Hamiltonian 系统的精力函数被塑造到如此的一种形式，能是 HJI 不平等的一个候选人解决方案。下次，精力功能作为控制 ISS-Lyapunov 功能的一个候选人被塑造，然后 port-controlledHamiltonian 系统的 input-to-state 稳定被完成。一些容易可证实的足够的条件被介绍。

英文摘要：

In this paper, we first propose an extended Casimir method for energy-shaping. Then it is used to solve some control problems of Hamiltonian systems. To solve the Hoo control problem, the energy function of a Hamiltonian system is shaped to such a form that could be a candidate solution of HJI inequality. Next, the energy function is shaped as a candidate of control ISS-Lyapunov function, and then the input-to-state stabilization of port-controlled Hamiltonian systems is achieved. Some easily verifiable sufficient conditions are presented.

同期刊论文项目
控制科学中若干关键基础问题的研究
期刊论文 189 会议论文 160 获奖 2 著作 7
复杂动态系统的建模与控制及其算法实现
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