Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations

Authors

Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie

Abstract

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

Keywords

hamiltonian systems, nonholonomic systems, trajectory tracking

Citation

• Journal: European Journal of Control
• Year: 2004
• Volume: 10
• Issue: 5
• Pages: 421–431
• Publisher: Elsevier BV
• DOI: 10.3166/ejc.10.421-431

BibTeX

@article{Fujimoto_2004,
  title={{Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations}},
  volume={10},
  ISSN={0947-3580},
  DOI={10.3166/ejc.10.421-431},
  number={5},
  journal={European Journal of Control},
  publisher={Elsevier BV},
  author={Fujimoto, Kenji and Sakurama, Kazunori and Sugie, Toshiharu},
  year={2004},
  pages={421--431}
}

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