Improved potential energy-shaping for port-controlled Hamiltonian systems

This paper investigates the asymptotical stabilization of port-controlled Hamiltonian (PCH) systems via the improved potential energy-shaping (IPES) method.First,a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function.Second,an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function.Finally,a numerical example is given to show the effectiveness of the proposed method.