Asymptotic stabilization of non-holonomic port-controlled hamiltonian systems

Authors

Mathias Jesper Sørensen, Jan Dimon Bendtsen, Palle Andersen, Tom Søndergaard Pedersen

Abstract

A novel method for asymptotic stabilization of a class of non-holonomic systems is presented. The method is based on the port-controlled Hamiltonian description of electro-mechanical systems. The general system is augmented with so-called kinematic inputs, thus representing a special class of mobile robots. The asymptotic stabilityguarantees are obtained by applying a passivity based control design, based on energy shaping and damping injection. The method has been successfully applied to a particular four wheel steered, four wheel driven robot.

Keywords

Non-holonomic systems; asymptotic stability; Hamiltonian systems; passivity-based design; mobile robots

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2004
• Volume: 37
• Issue: 8
• Pages: 764–769
• Publisher: Elsevier BV
• DOI: 10.1016/s1474-6670(17)32072-4
• Note: IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 5-7 July 2004

BibTeX

@article{S_rensen_2004,
  title={{Asymptotic stabilization of non-holonomic port-controlled hamiltonian systems}},
  volume={37},
  ISSN={1474-6670},
  DOI={10.1016/s1474-6670(17)32072-4},
  number={8},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Sørensen, Mathias Jesper and Bendtsen, Jan Dimon and Andersen, Palle and Pedersen, Tom Søndergaard},
  year={2004},
  pages={764--769}
}

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References

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