This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via
generalized canonical transformations and passivity-based control. The main strategy …

This paper introduces generalized canonical transformations for generalized Hamiltonian
systems which convert a generalized Hamiltonian system into another one, and preserve the …

Port Hamiltonian systems have grown in interest in recent years due to their modular
property, close relation with physical modelling and the interesting properties arising from …

This paper deals with the problem of L2 disturbance attenuation for Hamiltonian systems.
We first show that the L2 gain from the disturbance to a penalty signal may be reduced to …

Improving the robustness, vis-à-vis matched input disturbances of interconnection and
damping assignment, passivity based control (IDA-PBC) for a class of underactuated …

This paper proposes a nonlinear supplementary controller for enhancing the transient
response of distributed generations (DGs) in micro-grids. The proposed supplementary …

This paper is concerned with the stabilization of nonholonomic systems in port-controlled
Hamiltonian formulae based on time-varying generalized canonical transformations. A …

In this paper, mobile-hapto is analyzed, which is a remote control system that enables the
realization of two tasks: velocity control of a mobile robot and force transmission between a …

This paper addresses the issue of state-space realizations for nonlinear adjoint operators. In
particular, the relationships between nonlinear Hilbert adjoint operators, Hamiltonian …

In this brief, we address the robust force regulation problem of mechanical systems in
physical interaction with compliant environments. The control method that we present is …