Partial stabilization of a class of hydraulic mechanical systems with Casimir functions

Abstract

This paper gives a new modeling and passivity based control of a class of fluid mechanical systems with Casimir functions. First, we propose two stabilization methods, a new dynamic asymptotic stabilization method and a new partial stabilization method. Second, we give a new model of a class of hydraulic mechanical systems using Casimir functions. Furthermore, the proposed two stabilization methods are applied to the derived model. Finally, the validity of our methods are confirmed by numerical simulation.