Authors

K. Fujimoto, T. Sugie

Abstract

The paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which preserves the passivity property. Utilizing this transformation time-varying asymptotically stabilizing controllers for the nonholonomic Hamiltonian systems are derived. The proposed method is a natural generalization of passivity based control since we only employ the feedback which preserves the Hamiltonian structure of the original system.

Citation

  • Journal: Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)
  • Year: 2000
  • Volume:
  • Issue:
  • Pages: 3269–3273 vol.5
  • Publisher: IEEE
  • DOI: 10.1109/acc.2000.879169

BibTeX

@inproceedings{Fujimoto_2000,
  title={{Time-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations}},
  DOI={10.1109/acc.2000.879169},
  booktitle={{Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)}},
  publisher={IEEE},
  author={Fujimoto, K. and Sugie, T.},
  year={2000},
  pages={3269--3273 vol.5}
}

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References

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