Paper presents a new port-Hamiltonian model for vehicle manipulators.
problem Complex mechanical systems' energy flow and conservation.
method Derives port-Hamiltonian dynamics from Hamiltonian reduction theory.
result Establishes mathematical equivalence with existing formulations.
Study discretizes Dirac and port-Hamiltonian systems using manifolds.
problem Discretization of Dirac and port-Hamiltonian systems.
method Retraction and discretization maps on manifolds for Dirac structures, applied to port-Hamiltonian systems.
result Numerical integrators for port-Hamiltonian systems derived from discretization techniques.
We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator case and the differential operator case regarding the structural mapping, the dissi…
Develops control and observer methods for complex systems.
problem Controlling and observing infinite-dimensional systems with boundary actuation.
method Energy-Casimir method and port-Hamiltonian system representation.
result Control law and observer designed for Kirchhoff-Love plate example.
Paper extends port-Hamiltonian model to include internal energy for compressible and incompressible flow.
problem Modeling fluid flow dynamics with internal energy and constraints.
method Derived port-Hamiltonian model using interconnection maps and added internal energy and constraint forces.
result Model accurately represents both compressible and incompressible fluid flow.
Paper presents a new approach to continuum mechanics using port-Hamiltonian framework.
problem Geometric formulation of solid and fluid mechanics.
method Port-Hamiltonian framework, Dirac structures, Hamiltonian reduction theory.
result Systematic derivation of port-Hamiltonian models for solid and fluid mechanics.
In this paper, we consider nonlinear PDEs in a port-Hamiltonian setting based on an underlying jet-bundle structure. We restrict ourselves to systems with 1-dimensional spatial domain and 2nd-order Hamiltonian including certain dissipation models that can be incorporated in the port- Hamiltonian framework by means of a…
Paper develops a new fluid flow model with energy exchange through boundaries.
problem Modeling ideal fluid flow with energy exchange through boundaries.
method Port-Hamiltonian model based on Stokes-Dirac structures.
result Wide range of fluid dynamical systems can be achieved with this model.
This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known Lagrangian framework. Then it is of interest to reformulate the equations of motion in a …
Paper designs energy-based controllers and observers for complex systems.
problem Controlling and observing infinite-dimensional systems with in-domain actuation.
method Uses Stokes-Dirac structures and jet-bundle structures to derive controllers and observers.
result Control schemes derived in both frameworks are equivalent.
New framework optimizes neural networks using ODEs instead of discrete methods.
problem Optimizing neural networks using discrete methods.
method Port-Hamiltonian approach to learning neural networks.
result Ensures convergence to minimum of objective function.
Stokes-Dirac structures are infinite-dimensional Dirac structures defined in terms of differential forms on a smooth manifold with boundary. These Dirac structures lay down a geometric framework for the formulation of Hamiltonian systems with a nonzero boundary energy flow. Simplicial triangulation of the underlaying m…
Researchers present and compare different representations of dissipative Hamiltonian DAE systems.
problem Understanding and transforming dissipative Hamiltonian DAE systems.
method Global geometric and algebraic points of view, translations between representations, characterizations, and numerical methods for computing structural information.
result A general DAE system can be transformed into a dissipative Hamiltonian or port-Hamiltonian DAE system.
Physics-informed learning framework for pH systems and EB-PBC control.
problem Control of port-Hamiltonian systems from trajectory data.
method Co-learning of pH system model and EB-PBC through alternating optimization.
result Proven stability and robustness of the learned controller.
Dissipative SymODEN learns dynamics with dissipation and control from data.
problem Learning dynamics with dissipation and control from observed data.
method Dissipative SymODEN encodes port-Hamiltonian dynamics into a deep learning architecture.
result The learned model reveals key aspects of the system, such as inertia, dissipation, and potential energy.
In this contribution we present an intrinsic description of time-variant Port Hamiltonian systems as they appear in modeling and control theory. This formulation is based on the splitting of the state bundle and the use of appropriate covariant derivatives, which guarantees that the structure of the equations is invari…
This paper clarifies a global structure of Stokes-Dirac structures used for describing interconnected port-Hamiltonian systems defined on manifolds with non-trivial topology under consistent boundary condition.
Develops neural networks for learning physics of complex systems by enforcing thermodynamics principles.
problem Learning physics of complex systems from incomplete experimental data.
method Integrates port-metriplectic formalism with neural networks to enforce thermodynamics principles.
result Neural networks can learn physics of complex systems by parts, reducing learning burden.
The paper analyzes the stability of an observer error in a vibrating string system.
problem Stability analysis of observer error in a vibrating string system.
method Abstract Cauchy problem reformulation and application of LaSalle's invariance principle for infinite-dimensional systems.
result The observer error is asymptotically stable.
LLapDiff models irregular multivariate time series without step-by-step integration.
problem Trade-off between discrete and continuous methods for long-horizon forecasting.
method Generative framework that models target as a low-dimensional latent trajectory, guided by modal parameterization and Laplace domain poles.
result Improves long-horizon forecasting over baselines and supports missing-value imputation.