نتایج جستجو برای: Energy shaping method
تعداد نتایج: 2232771 فیلتر نتایج به سال:
abstract part one: the electrode oxidation potentials of a series of eighteen n-hydroxy compounds in aqueous solution were calculated based on a proper thermodynamic cycle. the dft method at the level of b3lyp-6-31g(d,p) was used to calculate the gas-phase free energy differences ,and the polarizable continuum model (pcm) was applied to describe the solvent and its interaction with n-hydroxy ...
In this thesis is initiated a more systematic geometric exploration of energy shaping. Most of the previous results have been dealt with particular cases and neither the existence nor the space of solutions has been discussed with any degree of generality. The geometric theory of partial differential equations originated by Goldschmidt and Spencer in late 1960’s is utilized to analyze the parti...
Stabilization of Systems with One Degree of Underactuation with Energy Shaping: A Geometric Approach
A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with one degree of underactuation is stabilizable by energy shaping, even in the absence of gyroscopic force, via a closed-loop metric which is not necessarily posi...
Energy Shaping for Systems with Two Degrees of Underactuation and More than Three Degrees of Freedom
We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illust...
We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC. We propose a simplification...
seismic retrofit strategies have been developed in the past few decades following the introduction of new seismic provisions and the availability of advanced materials and methods. it can be observed that new approaches to deal with more lateral forces are more innovative and more energy absorbent. in line with this, there is a growing trend toward the use of steel shear walls as a system with ...
This paper combines techniques of potential shaping with those of kinetic shaping to produce some new methods for stabilization of mechanical control systems. As with each of the techniques themselves, our method employs energy methods and the LaSalle invariance principle. We give explicit criteria for asymptotic stabilization of equilibria of mechanical systems which, in the absence of control...
In this thesis we are going to study the energy shaping problem on controlled Lagrangian systems with degree of underactuation less than or equal to two. Energy shaping is a method of stabilization by designing a suitable feedback control force on the given controlled Lagrangian system so that the total energy of the feedback equivalent system has a non-degenerate minimum at the equilibrium. Th...
We present a geometric formulation for the energy shaping problem. The central objective is the initiation of a more systematic exploration of energy shaping with the aim of determining whether a given system can be stabilized using energy shaping feedback. We investigate the partial differential equations for the kinetic energy shaping problem using the formal theory of partial differential eq...
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