Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations
نویسندگان
چکیده
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.
منابع مشابه
Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations
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 ...
متن کاملGeneral Framework of Trajectory Tracking Control of Hamiltonian Systems via Generalized Canonical Transformations
This paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems based on generalized canonical transformations. A general framework of tracking control utilizing the passivity property is proposed. Firstly, it is shown how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. Secondly, a pra...
متن کاملTrajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations
This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity based control. The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. After obtaining the error system, tracking control of the origin...
متن کاملTime-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations
This paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. A special class of timevarying generalized canonical transformations are introduced which preserves the passivity property. Utilizing this transformation timevarying asymptotically stabilizing controllers for the nonholonomic Hamiltonian syste...
متن کاملStabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations
This paper is concerned with the stabilization of nonholonomic systems in portcontrolled Hamiltonian formulae based on time-varying generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which modify the kinetic energy of the original system without changing the generalized Hamiltonian structure with passivity. Utilizing these...
متن کامل