Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations

Authors

Abstract

This paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae based on time-varying generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which modify the kinetic energy of the original system without changing the generalized Hamiltonian structure with passivity. Utilizing these transformations, time-varying asymptotically stabilizing controllers for the nonholonomic Hamiltonian systems are derived. Since the proposed method is a natural generalization of passivity based control for conventional holonomic systems, it is expected that the tools developed for conventional systems will be applicable to nonholonomic systems based on the proposed method.

Keywords

mechanical systems, nonlinear control systems, passive compensation, physical models

Citation

Journal: Systems & Control Letters
Year: 2001
Volume: 44
Issue: 4
Pages: 309–319
Publisher: Elsevier BV
DOI: 10.1016/s0167-6911(01)00150-5

BibTeX

@article{Fujimoto_2001,
  title={{Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations}},
  volume={44},
  ISSN={0167-6911},
  DOI={10.1016/s0167-6911(01)00150-5},
  number={4},
  journal={Systems &amp; Control Letters},
  publisher={Elsevier BV},
  author={Fujimoto, Kenji and Sugie, Toshiharu},
  year={2001},
  pages={309--319}
}

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References

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