7 papers
Observer-Based State Feedback Controller for a Mindlin Plate Model in port-Hamiltonian framework
Ignacio Diaz Alastuey, Yann Le Gorrec, Yongxin Wu
This paper generalises an early lumped observer-based state-feedback (OBSF) control design methodology, originally developed for one-dimensional (1-D) boundary-controlled port-Hami…
Design and Modeling of a HASEL Actuator-Based Micro Parallel Robot
Agustin Feregrino, Nelson Cisneros, Alexis Lefèvre +2
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical…
Observer design for classes of nonlinear port-Hamiltonian systems
Filippo Ugolini, Ning Liu, Yongxin Wu +2
This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range o…
Privacy-Preserving Formation Control for Networked Underactuated USVs: A Passivity-Based Approach
Jingyi Zhao, Wenxuan Wang, Weijun Zhou +3
This paper studies coordinated trajectory planning and tracking control for multiple unmanned surface vessels (USVs) under strict privacy requirements. To avoid the privacy risks a…
Conduction-Diffusion in N-Dimensional settings as irreversible port-Hamiltonian systems
Luis Mora, Yann Le Gorrec, Hector Ramirez +1
This work extends previous 1D irreversible port-Hamiltonian system (IPHS) formulations to boundary-controlled ND distributed parameter systems describing conduction-diffusion fluid…
Irreversible Port-Hamiltonian Formulations for 1-Dimensional fluid systems
Ahlam Ouardi, Arijit Sarkar, Hector Ramirez +1
The Irreversible Port-Hamiltonian Systems (IPHS) framework is extended to the modelling of non-isentropic fluids with viscous dissipation in the Eulerian description. Building on e…
About Dissipative and Pseudo Port-Hamiltonian Formulations of Irreversible Newtonian Compressible Flows
Luis A. Mora, Yann Le Gorrec, Denis Matignon +2
In this paper we consider the problem of obtaining a general port-Hamiltonian formulation of Newtonian fluids. We propose the port-Hamiltonian models to describe the energy flux of…