Modeling and Passivity Analysis of Nonholonomic Hamiltonian Systems with Affine Constraints

• Kai Tatsuya

  Graduate School of Engineering, Osaka University

Bibliographic Information

Other Title

• アファイン拘束を受ける非ホロノミックハミルトニアンシステムのモデリングと受動性解析
• アファイン コウソク オ ウケル ヒホロノミックハミルトニアン システム ノ モデリング ト ジュドウセイ カイセキ

Abstract

In this paper, we introduce and analyze Hamiltonian systems subject to nonholonomic affine constraints. We first sum up some concepts of Hamiltonian systems defined on both the phase space and the expanded phase space. Next, we derive nonholonomic Hamiltonian systems with affine constraints (NHSAC) by using a transformation and reduction on the expanded phase space. Then, passivity of the NHSAC with the control input term and the output equation is investigated. Finally, a coin on a rotating table is illustrated to confirm the results as a physical example.<br>

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 22 (9), 331-338, 2009

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• nonholonomic affine constraints
• Hamiltonian systems
• passivity
• coin on rotating table

Details

• CRID: 1390282680141463040
• NII Article ID: 10026193930
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.22.331
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 10356113
• Web Site: http://id.ndl.go.jp/bib/10356113
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10356113
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed