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		Liangcheng CAI,Yong HE,Min WU,Jinhua SHE.[en_title][J].Control Theory and Technology,2012,10(3):385~390.[Copy]

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LiangchengCAI,YongHE,MinWU,JinhuaSHE
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(School of Information Science and Engineering, Central South University; Hunan Engineering Laboratory for Advanced Control and Intelligent Automation;School of the Computer Science, Tokyo University of Technology)

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Received:November 16, 2010Revised:March 17, 2011

基金项目:This work was partly supported by the National Natural Science Foundation of China (Nos. 61125301, 60974026).

Improved potential energy-shaping for port-controlled Hamiltonian systems

Liangcheng CAI,Yong HE,Min WU,Jinhua SHE

(School of Information Science and Engineering, Central South University; Hunan Engineering Laboratory for Advanced Control and Intelligent Automation;School of the Computer Science, Tokyo University of Technology)

Abstract:

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.

Key words: Port-controlled Hamiltonian (PCH) systems Improved potential energy-shaping (IPES) Asymptotical stabilization