On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems

Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The skew-symmetric interconnection submatrix in the conventional form of IDA-PBC is shown to have some redundancy for systems with the number of degrees of freedom greater than two, containing unnecessary components that do not contribute to the dynamics. To completely remove this redundancy, the use of quadratic gyroscopic forces is proposed in place of the skew-symmetric interconnection submatrix. Reduction of the number of matching partial differential equations in IDA-PBC and simplification of the structure of the matching partial differential equations are achieved by eliminating the gyroscopic force from the matching partial differential equations. In addition, easily verifiable criteria are provided for Lyapunov/exponential stabilizability by IDA-PBC for all linear controlled Hamiltonian systems with arbitrary degrees of underactuation and for all nonlinear controlled Hamiltonian systems with one degree of underactuation. A general design procedure for IDA-PBC is given and illustrated with examples. The duality of the new IDA-PBC method to the method of controlled Lagrangians is discussed. This paper renders the IDA-PBC method as powerful as the controlled Lagrangian method.     

Equations for the Missing Boundary Values in the Hamiltonian Formulation of Optimal Control Problems

Partial differential equations for the unknown final state and initial costate arising in the Hamiltonian formulation of regular optimal control problems with a quadratic final penalty are found. It is shown that the missing boundary conditions for Hamilton’s canonical ordinary differential equations satisfy a system of first-order quasilinear vector partial differential equations (PDEs), when the functional dependence of the H-optimal control in phase-space variables is explicitly known. Their solutions are computed in the context of nonlinear systems with ℝ ⁿ -valued states. No special restrictions are imposed on the form of the Lagrangian cost term. Having calculated the initial values of the costates, the optimal control can then be constructed from on-line integration of the corresponding 2n-dimensional Hamilton ordinary differential equations (ODEs). The off-line procedure requires finding two auxiliary n×n matrices that generalize those appearing in the solution of the differential Riccati equation (DRE) associated with the linear-quadratic regulator (LQR) problem. In all equations, the independent variables are the finite time-horizon duration T and the final-penalty matrix coefficient S, so their solutions give information on a whole two-parameter family of control problems, which can be used for design purposes. The mathematical treatment takes advantage from the symplectic structure of the Hamiltonian formalism, which allows one to reformulate Bellman’s conjectures concerning the “invariant-embedding” methodology for two-point boundary-value problems. Results for LQR problems are tested against solutions of the associated differential Riccati equation, and the attributes of the two approaches are illustrated and discussed. Also, nonlinear problems are numerically solved and compared against those obtained by using shooting techniques.     

Nonlinear Stability in Resonant Cases: A Geometrical Approach

Summary. In systems with two degrees of freedom, Arnold's theorem is used for studying nonlinear stability of the origin when the quadratic part of the Hamiltonian is a nondefinite form. In that case, a previous normalization of the higher orders is needed, which reduces the Hamiltonian to homogeneous polynomials in the actions. However, in the case of resonances, it could not be possible to bring the Hamiltonian to the normal form required by Arnold's theorem. In these cases, we determine the stability from analysis of the normalized phase flow. Normalization up to an arbitrary order by Lie-Deprit transformation is carried out using a generalization of the Lissajous variables. Received November 8, 2000; accepted January 6, 2001 Online publication March 23, 2001     

On Dissipative Phenomena of the Interaction of Hamiltonian Systems

The dynamics is under study of a composite Hamiltonian system that is the union of a finite-dimensional nonlinear system and an infinite-dimensional linear system with quadratic interaction Hamiltonian. The dynamics of the finite-dimensional subsystem is determined by a nonlinear integro-differential equation with a relaxation kernel. We prove existence and uniqueness theorems and find a priori estimates for a solution. Under some assumptions on the form of interaction, the solution to the finite-dimensional subsystem converges to one of the critical points of the effective Hamiltonian.     

On a bifurcation governed by hysteresis nonlinearity

We consider autonomous systems with a nonlinear part depending on a parameter and study Hopf bifurcations at infinity. The nonlinear part consists of the nonlinear functional term and the Prandtl--Ishlinskii hysteresis term. The linear part of the system has a special form such that the close-loop system can be considered as a hysteresis perturbation of a quasilinear Hamiltonian system. The Hamiltonian system has a continuum of arbitrarily large cycles for each value of the parameter. We present sufficient conditions for the existence of bifurcation points for the non-Hamiltonian system with hysteresis. These bifurcation points are determined by simple characteristics of the hysteresis nonlinearity.     

On the Constructive Algorithm for Stability Analysis of an Equilibrium Point of a Periodic Hamiltonian System with Two Degrees of Freedom in the Second-order Resonance Case

This paper is concerned with a nonautonomous Hamiltonian system with two degrees of freedom whose Hamiltonian is a 2π-periodic function of time and analytic in a neighborhood of an equilibrium point. It is assumed that the system exhibits a secondorder resonance, i. e., the system linearized in a neighborhood of the equilibrium point has a double multiplier equal to ?1. The case of general position is considered when the monodromy matrix is not reduced to diagonal form and the equilibrium point is linearly unstable. In this case, a nonlinear analysis is required to draw conclusions on the stability (or instability) of the equilibrium point in the complete system.In this paper, a constructive algorithm for a rigorous stability analysis of the equilibrium point of the above-mentioned system is presented. This algorithm has been developed on the basis of a method proposed in [1]. The main idea of this method is to construct and normalize a symplectic map generated by the phase flow of a Hamiltonian system.It is shown that the normal form of the Hamiltonian function and the generating function of the corresponding symplectic map contain no third-degree terms. Explicit formulae are obtained which allow one to calculate the coefficients of the normal form of the Hamiltonian in terms of the coefficients of the generating function of a symplectic map.The developed algorithm is applied to solve the problem of stability of resonant rotations of a symmetric satellite.     

Linear systems with a quadratic integral

It is shown that a linear system of n differential equations with constant coefficients, at least one of whose integrals is a non-degenerate quadratic form, may be reduced to a canonical system of Hamiltonian equations. In particular, n is even and the phase flow preserves the standard measure; if the index of the quadratic integral is odd, the trivial solution is unstable, and so on. For the case n = 4 the stability conditions are given a geometrical form. The general results are used to investigate small oscillations of non-holonomic systems, and also the problem of the stability of invariant manifolds of non-linear systems that have Morse functions as integrals.     

Noncommutative classical and quantum mechanics for quadratic Lagrangians (Hamiltonians)

Classical and quantum mechanics based on an extended Heisenberg algebra with additional canonical commutation relations for position and momentum coordinates are considered. In this approach additional noncommutativity is removed from the algebra by a linear transformation of coordinates and transferred to the Hamiltonian (Lagrangian). This linear transformation does not change the quadratic form of the Hamiltonian (Lagrangian), and Feynman’s path integral preserves its exact expression for quadratic models. The compact general formalism presented here can be easily illustrated in any particular quadratic case. As an important result of phenomenological interest, we give the path integral for a charged particle in the noncommutative plane with a perpendicular magnetic field. We also present an effective Planck constant ħ _eff which depends on additional noncommutativity.     

时滞Lagrange系统的Lie对称性与守恒量研究

研究了位形间中含单时滞参数的非保守力学系统的Lie对称性和守恒量。首先,利用含时滞的动力学Hamilton原理,建立了含时滞的非保守系统的分段Lagrange运动方程;其次,利用微分方程容许Lie群理论,得到系统的Lie对称确定方程;然后,根据对称性与守恒量之间的关系,通过构造结构方程,得到含时滞的非保守系统的Lie定理;最后,给出了两个具体的算例说明了方法的应用。结果表明:时滞参数的存在使非保守系统的Lagrange方程呈现分段特性,相应的Lie对称性确定方程的个数应是自由度数目的2倍,这对生成元函数提出了更高的限制,同时,守恒量呈现依赖速度项的分段表达。     

Restrictions of Quadratic Forms to Lagrangian Planes,Quadratic Matrix Equations,and Gyroscopic Stabilization

We discuss the symplectic geometry of linear Hamiltonian systems with nondegenerate Hamiltonians. These systems can be reduced to linear second-order differential equations characteristic of linear oscillation theory. This reduction is related to the problem on the signatures of restrictions of quadratic forms to Lagrangian planes. We study vortex symplectic planes invariant with respect to linear Hamiltonian systems. These planes are determined by the solutions of quadratic matrix equations of a special form. New conditions for gyroscopic stabilization are found.     

Reissner板弯曲的辛求解体系

基于Reissner板弯曲问题的Hellinger-Reissner变分原理,通过引入对偶变量,导出Reissner板弯曲的Hamilton对偶方程组．从而将该问题导入到哈密顿体系,实现从欧几里德空间向辛几何空间,拉格朗日体系向哈密顿体系的过渡．于是在由原变量及其对偶变量组成的辛几何空间内,许多有效的数学物理方法如分离变量法和本征函数向量展开法等均可直接应用于Reissner板弯曲问题的求解．这里详细求解出Hamilton算子矩阵零本征值的所有本征解及其约当型本征解,给出其具体的物理意义．形成了零本征值本征向量之间的共轭辛正交关系．可以看到,这些零本征值的本征解是Saint-Venant问题所有的基本解,这些解可以张成一个完备的零本征值辛子空间．而非零本征值的本征解是圣维南原理所覆盖的部分．新方法突破了传统半逆解法的限制,有广阔的应用前景．     

Hamiltonian Systems on Time Scales

Linear and nonlinear Hamiltonian systems are studied on time scales . We unify symplectic flow properties of discrete and continuous Hamiltonian systems. A chain rule which unifies discrete and continuous settings is presented for our so-called alpha derivatives on generalized time scales. This chain rule allows transformation of linear Hamiltonian systems on time scales under simultaneous change of independent and dependent variables, thus extending the change of dependent variables recently obtained by Do lý and Hilscher. We also give the Legendre transformation for nonlinear Euler–Lagrange equations on time scales to Hamiltonian systems on time scales.     

Generalization of the Jurdjevic-Quinn theorem and stabilization of bilinear control systems with periodic coefficients: I

The Jurdjevic-Quinn theorem on the global asymptotic stabilization of the origin is generalized to nonlinear time-varying affine control systems with periodic coefficients. The proof is based on the Krasovskii theorem on the global asymptotic stability for periodic systems and the introduced notion of “commutator” for two vector fields one of which is time-varying. The obtained sufficient conditions for stabilization are applied to bilinear control systems with periodic coefficients. We construct a control periodic in t in the form of a quadratic form in x that asymptotically stabilizes the zero solution of a bilinear periodic system with a time-invariant drift.     

Linear Hamiltonian Systems: Quadratic Integrals,Singular Subspaces and Stability

A chain of quadratic first integrals of general linear Hamiltonian systems that have not been represented in canonical form is found. Their involutiveness is established and the problem of their functional independence is studied. The key role in the study of a Hamiltonian system is played by an integral cone which is obtained by setting known quadratic first integrals equal to zero. A singular invariant isotropic subspace is shown to pass through each point of the integral cone, and its dimension is found. The maximal dimension of such subspaces estimates from above the degree of instability of the Hamiltonian system. The stability of typical Hamiltonian systems is shown to be equivalent to the degeneracy of the cone to an equilibrium point. General results are applied to the investigation of linear mechanical systems with gyroscopic forces and finite-dimensional quantum systems.     

Componentwise fast convergence in the solution of full-rank systems of nonlinear equations

The asymptotic convergence of parameterized variants of Newton’s method for the solution of nonlinear systems of equations is considered. The original system is perturbed by a term involving the variables and a scalar parameter which is driven to zero as the iteration proceeds. The exact local solutions to the perturbed systems then form a differentiable path leading to a solution of the original system, the scalar parameter determining the progress along the path. A path-following algorithm, which involves an inner iteration in which the perturbed systems are approximately solved, is outlined. It is shown that asymptotically, a single linear system is solved per update of the scalar parameter. It turns out that a componentwise Q-superlinear rate may be attained, both in the direct error and in the residuals, under standard assumptions, and that this rate may be made arbitrarily close to quadratic. Numerical experiments illustrate the results and we discuss the relationships that this method shares with interior methods in constrained optimization. Received: September 8, 2000 / Accepted: September 17, 2001?Published online February 14, 2002     

Quasi-periodic solutions for beam equations with the nonlinear terms depending on the space variable

ABSTRACT

This article is devoted to the study of a beam equation with an x-dependent nonlinear term. We construct an analytic and symplectic transformation which changes the Hamiltonian to its Birkhoff normal form. However, the infinitely many coefficients of the Hamiltonian generating this transformation have small denominators. We prove that these denominators do not vanish for all indices and the transformation is canonical. Applying the normal form to a KAM theorem, it is proved that the equation admits quasi-periodic solutions with prescribed frequencies for any fixed potential constant.     

基于虚拟完整约束的欠驱动起重机控制方法

欠驱动系统的控制是非线性控制的一个重要领域,欠驱动系统指系统控制输入个数小于自由度个数的非线性系统.目前,欠驱动非线性系统动力学和控制研究的主要方法包括线性二次型最优控制方法和部分反馈线性化方法等,如何使系统持续的稳定在平衡位置一直是研究的难点.虚拟约束方法是指通过选择一个周期循环变化的变量作为自变量来设计系统的周期运动.该文以典型的欠驱动模型起重机为例,采用虚拟约束方法,使系统能够在平衡位置稳定或周期振荡运动.首先,通过建立虚拟约束,减少系统自由度变量;然后,通过部分反馈线性化理论推导出系统的状态方程;最后,通过线性二次调节器设计反馈控制器.仿真结果表明,重物在反馈控制下可以在竖直位置的附近达到稳定状态,反映了虚拟约束方法对欠驱动系统的有效性.     

Suboptimal Integral Sliding Mode Controller Design for a Class of Affine Systems

This paper proposes an nth-order suboptimal integral sliding mode controller for a class of nonlinear affine systems. First, a general form of integral sliding mode is given. An extended Theta-D method is developed for the optimal control problems characterized by a quadratic cost function with a cross term. Then the extended Theta-D method is employed to determine a suboptimal integral sliding mode. Rigorous proof shows that the controller guarantees semi-global asymptotical stability of affine systems. To verify the accuracy of the extended Theta-D method, a numerical example is provided. To verify the effectiveness of the proposed suboptimal integral sliding mode controller, a numerical example and an application example of an overhead crane system are provided.