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		Liangcheng CAI,Yong HE,Min WU.[en_title][J].Control Theory and Technology,2013,11(3):436~441.[Copy]

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

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Received:July 12, 2012Revised:September 06, 2012

基金项目:This work was supported by the National Science Fund for Distinguished Youth Scholars of China (No. 61125301).

Energy-shaping for Hamiltonian control systems with time delay

Liangcheng CAI,Yong HE,Min WU

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

Abstract:

This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one (TTO) principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Third, a novel matching equation is built via the TTO principle for the Hamiltonian control systems with time delay, which generates an effective control law for the Hamiltonian control systems with time delay. Finally, a numerical example shows the effectiveness of proposed method.

Key words: Time delay Hamiltonian control systems Energy-shaping