Manoeuvring control of fully-actuated marine vehicles : a Port-Hamiltonian system approach to tracking

This paper presents a novel control strategy for trajectory tracking of marine vehicles manoeuvring at low speed. The model of the marine vehicle is formulated as a Port-Hamiltonian system, and the tracking controller is designed using energy shaping and damping assignment. The controller guarantees global asymptotic stability and includes integral action for output variables with relative degree greater than one.

Port-Hamiltonian theory of motion control for marine craft

Port-Hamiltonian Systems (PHS) have a particular form that incorporates explicitly a function of the total energy in the system (energy function) and also other functions that describe structure of the system in terms of energy distribution. For PHS, the product of the input and output variables gives the rate of energy change. This type of systems have the property that under certain conditions on the energy function, the system is passive; and thus, stable. Therefore, if one can design a controller such that the closed-loop system retains - or takes - a PHS form, such closed-loop system will inherit the properties of passivity and stability. In this paper, the classical model of marine craft is put into a PHS form. It is shown that models used for positioning control do not have a PHS form due to a kinematic transformation, but a control design can be done such that the closed-loop system takes a PHS form. It is further shown how integral action can be added and how the PHS-form can be exploited to provide a procedure for control design that ensures passivity and thus stability.

Tracking control of a class of Hamiltonian mechanical systems with disturbances

This paper presents a trajectory-tracking control strategy for a class of mechanical systems in Hamiltonian form. The class is characterised by a simplectic interconnection arising from the use of generalised coordinates and full actuation. The tracking error dynamic is modelled as a port-Hamiltonian Systems (PHS). The control action is designed to take the error dynamics into a desired closed-loop PHS characterised by a constant mass matrix and a potential energy with a minimum at the origin. A transformation of the momentum and a feedback control is exploited to obtain a constant generalised mass matrix in closed loop. The stability of the close-loop system is shown using the close-loop Hamiltonian as a Lyapunov function. The paper also considers the addition of integral action to design a robust controller that ensures tracking in spite of disturbances. As a case study, the proposed control design methodology is applied to a fully actuated robotic manipulator.

Constraints in relativistic Hamiltonian mechanics

We propose a new scheme for the use of constraints in setting up classical, Hamiltonian, relativistic, interacting particle theories. We show that it possesses both Poincaré invariance and invariance of world lines. We discuss the transition to the physical phase space and the nonrelativistic limit.

Separability in relativistic Hamiltonian particle dynamics

The problem of separability in recent models of classical relativistic interacting particles is examined. This physical requirement is shown to be more subtle than naive separability of all the constraints defining the system: it is adequate to be able to canonically transform the time-fixing constraints from an unseparated to a separated form when clusters emerge. Viewing separability in this way, and within a specific framework, we are led to a new no-interaction theorem which states the incompatibility of nontrivial interaction with relativistic invariance, separability, and invariant world lines for more than two particles.

Thermodynamic scaling theory for impurities in metals

A perturbative scaling theory for calculating static thermodynamic properties of arbitrary local impurity degrees of freedom interacting with the conduction electrons of a metal is presented. The basic features are developments of the ideas of Anderson and Wilson, but the precise formulation is new and is capable of taking into account band-edge effects which cannot be neglected in certain problems. Recursion relations are derived for arbitrary interaction Hamiltonians up to third order in perturbation theory. A generalized impurity Hamiltonian is defined and its scaling equations are derived up to third order. The strategy of using such perturbative scaling equations is delineated and the renormalization-group aspects are discussed. The method is illustrated by applying it to the single-impurity Kondo problem whose static properties are well understood.

Valence bond analysis of the Kondo chain Hamiltonian

Accurate extrapolations for the ground state energy per site of the one - dimensional Kondo chain system is obtained from exact finite system calculations carried out employing a valence bond scheme. An analysis of the ground state wave function indicates that the localized spin is quenched for all nonzero values of the Kondo exchange constant in one dimension.

Thermodynamic scaling theory for the two-impurity Anderson model

We present results of a study of the two-impurity Anderson model using a thermodynamic scaling theory developed recently. The model is characterized by the Coulomb energy U, the orbital energy epsilond, the d-level width Gamma, and the separation between impurities R. If Gamma<<−epsilond<~Gamma. Here we find that the single-impurity physics dominates the low-temperature behavior, and impurity-impurity interactions are perturbative. The qualitative features of the temperature-dependent susceptibility are discussed. Journal of Applied Physics is copyrighted by The American Institute of Physics.

Symmetries and constraints in generalized Hamiltonian dynamics

A general analysis of symmetries and constraints for singular Lagrangian systems is given. It is shown that symmetry transformations can be expressed as canonical transformations in phase space, even for such systems. The relation of symmetries to generators, constraints, commutators, and Dirac brackets is clarified.

Antiferromagnetic spin-wave states in a linear chain with nearest- and next-nearest-neighbour interactions

The spectrum of short-closed chains up to N=12 are studied by exact diagonalization to obtain the spin-wave spectrum of the Hamiltonian H=2J Sigma i=1Nsi.si+1+2J alpha Sigma i=1Nsi.si+2, -1.0Anderson approximation (1952). The results of short chains indicate that S=0 bound magnon states lie partly below the spin-wave states with S=1 only for alpha >or=0.3 and alpha

Anderson transitions in Ln1-xSrxCoO3 (Ln=Pr or Nd)

Electrical conductivity measurements show that Ln1-xSrxCoO3, (Ln = Pr or Nd) undergoes a non-metal-metal transition when x-0 3. The d.c. conductivity of compositions with 0Anderson localized.

Adiabatic quantum computation with a one-dimensional projector Hamiltonian

Adiabatic quantum computation is based on the adiabatic evolution of quantum systems. We analyze a particular class of quantum adiabatic evolutions where either the initial or final Hamiltonian is a one-dimensional projector Hamiltonian on the corresponding ground state. The minimum-energy gap, which governs the time required for a successful evolution, is shown to be proportional to the overlap of the ground states of the initial and final Hamiltonians. We show that such evolutions exhibit a rapid crossover as the ground state changes abruptly near the transition point where the energy gap is minimum. Furthermore, a faster evolution can be obtained by performing a partial adiabatic evolution within a narrow interval around the transition point. These results generalize and quantify earlier works.

ESR study of dibarium copper formate tetrahydrate Part II. Optical absorption and temperature dependence of spin-hamiltonian parameters

The variations in certain spin-Hamiltonian parameters of the Cu++ ion in dibarium copper formate tetrahydrate with temperature have been studied. Optical absorption investigations on single crystals of the salt at room temperature and 90° K. are reported. The results are discussed in terms of a model in which vibronic mixing of certain electron levels of the Cu++ ion play an important role.

Angle-resolved photoemission spectroscopy of the insulating NaxWO3: Anderson localization, polaron formation, and remnant Fermi surface

The electronic structure of the insulating sodium tungsten bronze, Na0.025WO3, is investigated by high-resolution angle-resolved photoemission spectroscopy. We find that near-E-F states are localized due to the strong disorder arising from random distribution of Na+ ions in the WO3 lattice, which makes the system insulating. The temperature dependence of photoemission spectra provides direct evidence for polaron formation. The remnant Fermi surface of the insulator is found to be the replica of the real Fermi surface in the metallic system