DYNAMIC OUTPUT FEEDBACK STABILIZATION OF A CLASS OF NONHOLONOMIC HAMILTONIAN SYSTEMS

Authors

Abstract

This paper is concerned with discontinuous output feedback stabilization of a class of nonholonomic systems in a port-controlled Hamiltonian form. First, in order to obtain a dynamic feedback, an integrator is added to the system via a generalized canonical transformation. Second, we clarify an equivalence between asymptotic stability of a state feedback system and that of the corresponding output feedback system. An output feedback stabilization method is derived based on this equivalence. Furthermore, some numerical examples show the effectiveness of our technique.

Keywords

hamiltonian systems, nonholonomic systems, output feedback systems

Citation

Journal: IFAC Proceedings Volumes
Year: 2005
Volume: 38
Issue: 1
Pages: 336–341
Publisher: Elsevier BV
DOI: 10.3182/20050703-6-cz-1902.00710
Note: 16th IFAC World Congress

BibTeX

@article{Sakai_2005,
  title={{DYNAMIC OUTPUT FEEDBACK STABILIZATION OF A CLASS OF NONHOLONOMIC HAMILTONIAN SYSTEMS}},
  volume={38},
  ISSN={1474-6670},
  DOI={10.3182/20050703-6-cz-1902.00710},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Sakai, Satoru and Fujimoto, Kenji},
  year={2005},
  pages={336--341}
}

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References

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