TY - GEN
T1 - Generalized canonical transformations and passivity-based control for nonholonomic Hamiltonian systems with affine constraints
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
AU - Kai, Tatsuya
PY - 2007
Y1 - 2007
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.
UR - https://www.scopus.com/pages/publications/62749128507
U2 - 10.1109/CDC.2007.4434981
DO - 10.1109/CDC.2007.4434981
M3 - Conference contribution
AN - SCOPUS:62749128507
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3369
EP - 3374
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
ER -