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Construction of discrete-time model for port-controlled Hamiltonian systems with applications

Construction of discrete-time model for port-controlled Hamiltonian systems with applications
Construction of discrete-time model for port-controlled Hamiltonian systems with applications
The issues of constructing a discrete-time model for Hamiltonian systems are in general different from those for dissipative systems. We propose an algorithm for constructing an approximate discrete-time model, which guarantees Hamiltonian conservation. We show that the algorithm also preserves, in a weaker sense, the losslessness property of a class of port-controlled Hamiltonian systems. An application of the algorithm to port-controlled Hamiltonian systems with quadratic Hamiltonian is presented, and we use this to solve the stabilization problem for this class of systems based on the approximate discrete-time model constructed using the proposed algorithm. We illustrate the usefulness of the algorithm in designing a discrete-time controller to stabilize the angular velocity of the dynamics of a rigid body.
0167-6911
673-680
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb

Laila, Dina Shona and Astolfi, Alessandro (2006) Construction of discrete-time model for port-controlled Hamiltonian systems with applications. Systems & Control Letters, 55, 673-680. (doi:10.1016/j.sysconle.2005.09.012).

Record type: Article

Abstract

The issues of constructing a discrete-time model for Hamiltonian systems are in general different from those for dissipative systems. We propose an algorithm for constructing an approximate discrete-time model, which guarantees Hamiltonian conservation. We show that the algorithm also preserves, in a weaker sense, the losslessness property of a class of port-controlled Hamiltonian systems. An application of the algorithm to port-controlled Hamiltonian systems with quadratic Hamiltonian is presented, and we use this to solve the stabilization problem for this class of systems based on the approximate discrete-time model constructed using the proposed algorithm. We illustrate the usefulness of the algorithm in designing a discrete-time controller to stabilize the angular velocity of the dynamics of a rigid body.

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Published date: 2006
Organisations: Mechatronics

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Local EPrints ID: 203217
URI: http://eprints.soton.ac.uk/id/eprint/203217
ISSN: 0167-6911
PURE UUID: 88409b2d-600b-49f6-8ae1-40afa99825e6

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Date deposited: 15 Nov 2011 16:28
Last modified: 14 Mar 2024 04:26

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Contributors

Author: Dina Shona Laila
Author: Alessandro Astolfi

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