Trajectory tracking control of nonholonomic Hamiltonian systems via generalized canonical transformations

被引：21
|
作者：
Fujimoto, K [1 ]
Sakurama, K
Sugie, T
机构：
[1] Nagoya Univ, Grad Sch Engn, Dept Mech Sci & Engn, Chikusa Ku, Nagoya, Aichi 4648603, Japan
[2] Univ Electrocommun, Dept Elect Engn, Chofu, Tokyo 1828585, Japan
[3] Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Uji, Kyoto 6110011, Japan
来源：
EUROPEAN JOURNAL OF CONTROL | 2004年 / 10卷 / 05期
关键词：
nonholonomic systems; trajectory tracking; Hamiltonian systems;
D O I：
10.3166/ejc.10.421-431
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 devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled 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.
引用
收藏
页码：421 / 431
页数：11
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