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Disputation Siva Prasad Chakri Dhanakoti

05.09.2023 | 10:00
Thema der Dissertation:
Study of Intrinsically Curved Elastic Rods Under External Loads with Applications to Concentric Tube Continuum Robots and their Control
Thema der Disputation:
Port-Hamiltonian Systems and Their Control
Abstract: Over the last two decades, the Port-Hamiltonian framework has drawn greater attention from a wide variety of physical domains. This framework [1, 2] provides a network-based description of physical systems, where the constituent subsystems interact among themselves and with the external environment through energy-conserving ports. This approach is well suited for analysis, control, and simulation of complex systems spanning diverse physical fields such as electrical, mechanical, hydraulic, or thermal, etc., Another significant aspect of these systems is their modularity, allowing each subsystem to be modeled independently and subsequently interconnected with others. In this talk, I will give a basic description of the Port-Hamiltonian systems commencing with network-based modeling. Later, I will present some control aspects of the Port-Hamiltonian systems [3, 4] using examples. References:
[1] Arjan Van Der Schaft. Port-hamiltonian systems: an introductory survey.
In Proceedings of the international congress of mathematicians, volume 3, pages 1339–1365. Marta Sanz-Sole, Javier Soria, Juan Luis Verona, Joan Verdura, Madrid, Spain, 2006.
[2] Vincent Duindam, Alessandro Macchelli, Stefano Stramigioli, and Herman Bruyninckx. Modeling and Control of Complex Physical Systems: The port- hamiltonian approach. Springer, 2009.
[3] Volker Mehrmann and Benjamin Unger. Control of port-hamiltonian differential-algebraic systems and applications. Acta Numerica, 32:395–515, 2023.
[4] Romeo Ortega, Arjan van der Schaft, Bernhard Maschke, and Gerardo Es- cobar. Interconnection and damping assignment passivity-based control of port-controlled hamiltonian systems. Autom., 38:585–596, 2002.

Zeit & Ort

05.09.2023 | 10:00

Seminarraum 2006
(Zuse Institut Berlin, Takustr. 7, 14195 Berlin)