Authors

K. Fujimoto, T. Sugie

Abstract

This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This strategy works for both holonomic and nonholonomic port-controlled Hamiltonian systems. A practical design procedure of global tracking controllers for those systems is proposed. This method is a natural extension of the conventional passivity based control and is expected to derive robustly stable control systems.

Citation

  • Journal: Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)
  • Year: 2002
  • Volume:
  • Issue:
  • Pages: 2818–2823 vol.4
  • Publisher: IEEE
  • DOI: 10.1109/acc.2002.1025216

BibTeX

@inproceedings{Fujimoto_2002,
  title={{Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations}},
  DOI={10.1109/acc.2002.1025216},
  booktitle={{Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)}},
  publisher={IEEE},
  author={Fujimoto, K. and Sugie, T.},
  year={2002},
  pages={2818--2823 vol.4}
}

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References

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