Control of nonholonomic Hamiltonian systems

Authors

Abstract

This paper is devoted to a unified approach to controlling of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to modify the physical energy function of the system into a time-varying or nonsmooth one. This causes the trajectory tracking or asymptotically stable behavior of nonholonomic Hamiltonian systems. A brief survey on this topic is given with an emphasis on its extension to output feedback control which is one of the main advantages of the proposed passivity based approach.

Citation

Journal: Proceedings of the 41st SICE Annual Conference. SICE 2002.
Year: 2003
Volume: 4
Issue:
Pages: 2202–2207
Publisher: Soc. Instrument & Control Eng. (SICE)
DOI: 10.1109/sice.2002.1195741

BibTeX

@inproceedings{Fujimoto,
  series={SICE-02},
  title={{Control of nonholonomic Hamiltonian systems}},
  volume={4},
  DOI={10.1109/sice.2002.1195741},
  booktitle={{Proceedings of the 41st SICE Annual Conference. SICE 2002.}},
  publisher={Soc. Instrument & Control Eng. (SICE)},
  author={Fujimoto, K.},
  pages={2202--2207},
  collection={SICE-02}
}

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References

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