Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 5 of 5 for “"Port-Hamiltonian"”.
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Performance and Robustness Assessment for a Robust Port-Hamiltonian Flight Controller
… nonlinear fixed-wing aircraft dynamics into a port-Hamiltonian structure using feedback linearization, from which input-to-state stability guarantees follow. This novel control law is compared to two industry standard methods, linear quadratic regulator and nonlinear dynamic inversion, which …
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The port-Hamiltonian framework as a comprehensive approach to model and simulate complex systems
… of information, a hierarchy of models. The port-Hamiltonian framework is a good candidate to solve this kind of problems as it supports the most important model operations natively. The thesis in particular addresses the problem of integrating distributed parameter systems in a model …
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Passivity-Based Control of Small Unmanned Aerial Systems
… Multirotor aircraft dynamics are cast into a port-Hamiltonian System and the concept of trajectory tracking using canonical feedback transformation is implemented to construct a cross-track controller. Fixed-wing aircraft dynamics are cast in port-Hamiltonian form and a passivity-based …
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Design and Optimisation of Virtual Mechanism Controllers With Applications in Robotic Surgery
… to passivity-based control, impedance control, port-Hamiltonian control, virtual model control, and virtual fixtures. The primary application domains considered in this work are in robotic surgery, with a focus on robot-assisted laparoscopy and the remote-centre-of-motion constraint, as well as …
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Energy Shaping Control for Stabilization of Interconnected Voltage Source Converters in Weakly-Connected AC Microgrid Systems
… using the concepts of Dirac composition in Port-Hamiltonian systems, passivity in physical systems, eigenvalue analysis and robust analysis based on the edge theorem for parametric uncertainty. The novel stability theorem aims to prove that all members of the classes of voltage source …