On path following control of nonholonomic port-Hamiltonian systems via generalized canonical transformations

Authors

Ryotaro Shima, Yuki Okura, Kenji Fujimoto, Ichiro Maruta

Abstract

This paper proposes a constructive design method of a static state feedback law which makes a nonholonomic port-Hamiltonian system follow a desired path. A generalized canonical transformation connects two port-Hamiltonian systems through a pair of a feedback and a coordinate change. This paper clarifies how a generalized canonical transformation connects the plant nonholonomic port-Hamiltonian system with an error system. Stabilizing the path following error system allows one to derive a constructive path following control law for the nonholonomic port-Hamiltonian system. Finally, an example shows a concrete design procedure of the proposed method.

Keywords

Nonlinear control; path following; nonholonomic systems; mechanical systems

Citation

• Journal: IFAC-PapersOnLine
• Year: 2019
• Volume: 52
• Issue: 16
• Pages: 298–303
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2019.11.795
• Note: 11th IFAC Symposium on Nonlinear Control Systems NOLCOS 2019- Vienna, Austria, 4–6 September 2019

BibTeX

@article{Shima_2019,
  title={{On path following control of nonholonomic port-Hamiltonian systems via generalized canonical transformations}},
  volume={52},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2019.11.795},
  number={16},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Shima, Ryotaro and Okura, Yuki and Fujimoto, Kenji and Maruta, Ichiro},
  year={2019},
  pages={298--303}
}

Download the bib file

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