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.
673-680
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
2006
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, .
(doi:10.1016/j.sysconle.2005.09.012).
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.
Text
dslaa_scl_2006.pdf
- Author's Original
More information
Published date: 2006
Organisations:
Mechatronics
Identifiers
Local EPrints ID: 203217
URI: http://eprints.soton.ac.uk/id/eprint/203217
ISSN: 0167-6911
PURE UUID: 88409b2d-600b-49f6-8ae1-40afa99825e6
Catalogue record
Date deposited: 15 Nov 2011 16:28
Last modified: 14 Mar 2024 04:26
Export record
Altmetrics
Contributors
Author:
Dina Shona Laila
Author:
Alessandro Astolfi
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics