Passivity based control of a class of Hamiltonian systems with nonholonomic constraints

Authors

Kenji Fujimoto, Satoru Sakai, Toshiharu Sugie

Abstract

This paper is concerned with state and output feedback stabilization of a class of port-Hamiltonian systems with nonholonomic constraints. First we study canonical forms for port-Hamiltonian systems with nonholonomic constraints. Second, we give a new state feedback stabilization method by using non-smooth Hamiltonian functions via generalized canonical transformations. Third, we propose a dynamic output feedback stabilization method without measuring the velocity based on the corresponding state feedback result. Numerical examples demonstrate the effectiveness of the proposed method.

Keywords

Port-Hamiltonian systems; Nonholonomic systems; Stabilization

Citation

• Journal: Automatica
• Year: 2012
• Volume: 48
• Issue: 12
• Pages: 3054–3063
• Publisher: Elsevier BV
• DOI: 10.1016/j.automatica.2012.08.032

BibTeX

@article{Fujimoto_2012,
  title={{Passivity based control of a class of Hamiltonian systems with nonholonomic constraints}},
  volume={48},
  ISSN={0005-1098},
  DOI={10.1016/j.automatica.2012.08.032},
  number={12},
  journal={Automatica},
  publisher={Elsevier BV},
  author={Fujimoto, Kenji and Sakai, Satoru and Sugie, Toshiharu},
  year={2012},
  pages={3054--3063}
}

Download the bib file

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