Generalized Canonical Transformations and Passivity-based Control for Nonholonomic Hamiltonian Systems with Affine Constraints

• Kai Tatsuya

  Faculty of Information Science and Electrical Engineering, Kyushu University

Bibliographic Information

Other Title

• アフィ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に対する一般化正準変換と受動性に基づく制御
• 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に対する一般化正準変換と受動性に基づく制御
• 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 ニ タイスル イッパンカ セイ ジュンヘンカン ト ジュドウセイ ニ モトズク セイギョ

Abstract

This paper is devoted to control of nonholonomic Hamiltonian systems with affine constraints (NHSAC). We first sum up some concepts on nonholonomic affine constraints and the HNSAC. Next, we derive two versions of generalized canonical transformations for the NHSAC; the one transforms the NHSAC into a simpler system that has the structure of the extended chained form, the other changes the Hamiltonian of the NHSAC in order to make the NHSAC satisfy passivity. We then design a control algorithm based on passivity for a physical example, a coin on a rotating table. Finally, some simulations are carried out to verify the proposed method. <br>

Journal

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

  Transactions of the Institute of Systems, Control and Information Engineers 23 (9), 207-214, 2010

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

Keywords

• nonholonomic affine constraints
• Hamiltonian systems
• generalized canonical transformation
• passivity
• coin on rotating table

Details

• CRID: 1390001205164767488
• NII Article ID: 10027615321
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.23.207
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 10817598
• Web Site: http://id.ndl.go.jp/bib/10817598
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10817598
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed