A neural network learns port-Hamiltonian dynamics without forcing the Hamiltonian to be convex and preserves stability at multiple equilibria instead of only one.
Energy aware impedance control of a flying end-effector in the port-Hamiltonian framework
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Structure- and Stability-Preserving Learning of Port-Hamiltonian Systems
A neural network learns port-Hamiltonian dynamics without forcing the Hamiltonian to be convex and preserves stability at multiple equilibria instead of only one.