ASYMPTOTICAL STABILIZATION FOR TIME-INVARIANT AND TIME-VARYING PORT-HAMILTONIAN SYSTEMS VIA A NEW KINETIC ENERGY-SHAPING

作者：Cai, Liangcheng; He, Yong^*; Wu, Min

来源：International Journal of Innovative Computing Information and Control, 2012, 8(8): 5513-5522.

• Port-Hamiltonian (PH) systems
• Kinetic energy-shaping (KES)
• Desired kinetic energy function
• Asymptotical stabilization

This paper investigates the asymptotical stabilization of the time-invariant and the time-varying Port-Hamiltonian (PH) systems via a new kinetic energy-shaping (KES) method. Firstly, a desired kinetic energy function is designed for the non-trivial points. Secondly, applying the KES method to the Hamiltonian function with the desired kinetic energy function builds some matching equations. Thirdly, solving those equations yields some asymptotically stabilized controllers. Finally, numerical examples are given to show the effectiveness of the proposed methods.

• 出版日期2012-8
• 单位中南大学