From the 1 of 10 linked papers with an AI index.
10 papers
Strong imposition of Dirichlet boundary velocities in structure-preserving discretizations of elastodynamics
Cristobal Ponce, Hector Ramirez, Yongxin Wu +2
The paper proposes a method to strongly enforce Dirichlet boundary velocities in finite element discretizations of elastodynamic port-Hamiltonian systems by using an additive kinem…
The distance-based formation controller design for multi-agent systems in port-Hamiltonian form
Jingyi Zhao, Yongxin Wu, Héctor GarcÃa de Marina +2
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control a…
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…
PH-KAN: Port-Hamiltonian Kolmogorov-Arnold Network
Achraf El Messaoudi, Karim Cherifi, Yann Le Gorrec +1
Data-driven machine learning approaches have become increasingly attractive for nonlinear system identification, but standard models often fail to preserve the underlying physical…
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…