In this paper, a novel energy-based trajectory tracking control strategy for under-actuated
unmanned surface vessels (USVs) in the presence of unknown environmental disturbances …

We discuss structure-preserving model order reduction for port-Hamiltonian systems based
on a nonlinear approximation ansatz which is linear with respect to a part of the state …

This paper deals with the modeling and control problem of a Hydraulically Amplified Self-
healing Electrostatic (HASEL) actuator based on the port-Hamiltonian framework. A …

We discuss structure-preserving model order reduction for port-Hamiltonian systems based
on an approximation of the full-order state by a linear combination of ansatz functions which …

In this paper, a method to control one degree of freedom lightweight flexible manipulators is
investigated. These robots have a single low-frequency and high amplitude vibration mode …

Transport-dominated systems are characterized by the propagation of waves and occur in
many applications such as aerodynamics and chemical engineering. To predict the …

With the development of bionics and marine science, a new artificial muscle material, IPMC
(ion‐exchange polymer metal composite), has attracted significant attention. However, the …

The control of a flexible beam using ionic polymer metal composites (IPMCs) is investigated
in this paper. The mechanical flexible dynamics are modelled as a Timoshenko beam. The …

Interconnection and damping assignment (IDA) is a popular passivity-based control (PBC)
technique. This nonlinear control approach has proven suitable for stabilizing a wide range …

This paper is concerned with shape control of a class of infinite-dimensional port-
Hamiltonian system, using an early lumping approach, ie the dynamic controller synthesized …