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 ...

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the controlled dynamics are given by a nonholonomic mechanical system. In our paper, the controlled equations are derived using a basis of vector fields adapted to t...

A new passive wheel type leg-wheeled hybrid mobile robot based on surface motion principle was introduced. To produce the propulsion force, a passive wheel was installed at the end of the parallel mechanism structured leg connecting with the frame-body to make the wheel vertical to the ground at any time. With the inertia framework, the robot framework and some assumptions, two forms of Maggie ...

This paper is concerned with iterative learning control of Hamiltonian systems with nonholonomic constraints. The author has proposed a novel iterative learning control method based on the symmetric property of Hamiltonian control systems. Unfortunately, however, it is not applicable to nonholonomic systems. The present paper proposes a set of feedback and coordinate transformations converting ...

In this paper we steer wheeled nonholonomic systems that can be represented in a so called chained form Su cient conditions for converting a multiple input system with nonholonomic velocity constraints into a multiple chain single generator chained form via state feedback and a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems ...