Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table

Tatsuya Kai

doi:10.1109/CDC.2007.4434981

Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table

Tatsuya Kai

Department of Applied Electronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

This paper considers a control problem for nonholonomic Hamiltonian systems with affine constraints (NHSAC), which are introduced in our previous work. We first explain nonholonomic affine constraints and the HNSAC. Next, we show generalized canonical transformations to change the NHSAC into a system for which we can easily design control laws. We then design a control algorithm based on passivity for a physical example: a coin on a rotating table. Finally, simulation results are illustrated to verify the proposed method.

Original language	English
Title of host publication	Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3369-3374
Number of pages	6
ISBN (Print)	1424414989, 9781424414987
DOIs	https://doi.org/10.1109/CDC.2007.4434981
Publication status	Published - 2007
Event	46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States Duration: 12 Dec 2007 → 14 Dec 2007

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	46th IEEE Conference on Decision and Control 2007, CDC
Country/Territory	United States
City	New Orleans, LA
Period	12/12/07 → 14/12/07

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10.1109/CDC.2007.4434981

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Kai, T. (2007). Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 3369-3374). Article 4434981 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2007.4434981

Kai, Tatsuya. / Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints : Control of a coin on a rotating table. Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. pp. 3369-3374 (Proceedings of the IEEE Conference on Decision and Control).

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title = "Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table",

abstract = "This paper considers a control problem for nonholonomic Hamiltonian systems with affine constraints (NHSAC), which are introduced in our previous work. We first explain nonholonomic affine constraints and the HNSAC. Next, we show generalized canonical transformations to change the NHSAC into a system for which we can easily design control laws. We then design a control algorithm based on passivity for a physical example: a coin on a rotating table. Finally, simulation results are illustrated to verify the proposed method.",

author = "Tatsuya Kai",

year = "2007",

doi = "10.1109/CDC.2007.4434981",

language = "English",

isbn = "1424414989",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3369--3374",

booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",

note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",

}

Kai, T 2007, Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table. in Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC., 4434981, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 3369-3374, 46th IEEE Conference on Decision and Control 2007, CDC, New Orleans, LA, United States, 12/12/07. https://doi.org/10.1109/CDC.2007.4434981

Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table. / Kai, Tatsuya.
Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., 2007. p. 3369-3374 4434981 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper considers a control problem for nonholonomic Hamiltonian systems with affine constraints (NHSAC), which are introduced in our previous work. We first explain nonholonomic affine constraints and the HNSAC. Next, we show generalized canonical transformations to change the NHSAC into a system for which we can easily design control laws. We then design a control algorithm based on passivity for a physical example: a coin on a rotating table. Finally, simulation results are illustrated to verify the proposed method.

AB - This paper considers a control problem for nonholonomic Hamiltonian systems with affine constraints (NHSAC), which are introduced in our previous work. We first explain nonholonomic affine constraints and the HNSAC. Next, we show generalized canonical transformations to change the NHSAC into a system for which we can easily design control laws. We then design a control algorithm based on passivity for a physical example: a coin on a rotating table. Finally, simulation results are illustrated to verify the proposed method.

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BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 12 December 2007 through 14 December 2007

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Kai T. Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc. 2007. p. 3369-3374. 4434981. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2007.4434981

Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table

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