シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2012/08
形態種別	学術論文
査読	査読あり
標題	Improved Potential Energy-Shaping for Port-Controlled Hamiltonian Systems
執筆形態	共著
掲載誌名	Journal of Control Theory and Applications
出版社・発行元	Springer
巻・号・頁	10(3),pp.385-390
著者・共著者	Liangcheng Cai, Yong He, Min Wu, and Jinhua She
概要	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.
DOI	10.1007/s11768-012-0282-9