コンパクト多様体上の制御系の受動性

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  • 西田 豪
    京都大学 大学院 情報学研究科複雑系科学専攻

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タイトル別名
  • Passivity of Control Systems on Compact Manifolds
  • コンパクト タヨウタイ ジョウ ノ セイギョケイ ノ ジュドウセイ

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This paper derives a passivity defined in the neighborhood of a non-degenerate critical point of energy functions of systems on compact manifolds from which analytical solutions cannot be always derived, e.g., systems of nonlinear partial differential equations, but the energy can be regarded as a Morse function. We first show that the change in energy of the systems defined on a closed domain in the neighborhood can be transformed into an energy flow defined on a boundary of the domain in terms of the boundary integrability of Stokes theorem. Next, this boundary power balance is detailed by using the index of the critical points; therefore, it can be considered as the extended passivity.<br>

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