Energy-shaping for time delay Hamiltonian control systems

This paper investigates the asymptotical stabilization of time delay Hamiltonian control systems. Firstly, the time delay Hamiltonian control systems are proposed. Secondly, a Two-To-One (TTO) principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Thirdly, a novel matching equation is built via the TTO principle for the time delay Hamiltonian control systems, which generates an effective control law for the time delay Hamiltonian control systems. Finally, a numerical example shows the effectiveness of proposed method.