In the present paper we elaborate on the underlying Hamiltonian structure of interconnected energy-conserving physical systems. It is shown that a power-conserving interconnection of port-controlledâ€¦ (More)

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewiseâ€¦ (More)

In the present paper we address a state feedback H 1 suboptimal control problem for a rigid spacecraft with three control torques and disturbances. The state feedback H 1 suboptimal control problemâ€¦ (More)

A state feedback H 1 suboptimal control problem on T SO(3) for a rigid spacecraft with three control torques and disturbances is addressed. The Hamilton-Jacobi inequality associated with aâ€¦ (More)

In this paper singular H 1 suboptimal control for a class of two-block interconnected nonlinear systems is addressed. Under the assumption that the regular H 1 suboptimal control problem is solvableâ€¦ (More)

It is shown that network modelling of energy-conserving physical systems naturally leads to the consideration of (nonlinear) implicit generalized Hamilto-nian systems. Behavioral systems theory mayâ€¦ (More)

In the present paper we elaborate on the underlying Hamiltonian structure of interconnected energy-conserving physical systems. We show how these systems can be described as implicit generalizedâ€¦ (More)

In the present paper the problem of tracking of rigid body motion in SE(3) in the presence of torque disturbances is addressed. A penalty variable whose Euclidean norm is a measure of the trackingâ€¦ (More)