Time-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations

被引：0
|
作者：
Fujimoto, K [1 ]
Sugie, T [1 ]
机构：
[1] Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Uji, Kyoto 6110011, Japan
来源：
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年
关键词：
D O I：
暂无
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 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.
引用
收藏
页码：3269 / 3273
页数：5
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