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

被引：41

作者：

Fujimoto, Kenji ^{[1
]}

Sakai, Satoru ^{[2
]}

Sugie, Toshiharu ^{[3
]}

机构：

[1] Nagoya Univ, Grad Sch Engn, Nagoya, Aichi 4648601, Japan

[2] Shinshu Univ, Nagano, Japan

[3] Kyoto Univ, Kyoto, Japan

来源：

AUTOMATICA | 2012年 / 48卷 / 12期

关键词：

Port-Hamiltonian systems; Nonholonomic systems; Stabilization; TRACKING CONTROL; STABILIZATION; INTERCONNECTION;

D O I：

10.1016/j.automatica.2012.08.032

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：3054 / 3063

页数：10

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