Passivity based control of a class of Hamiltonian systems with nonholonomic constraints

@article{Fujimoto2012PassivityBC,
  title={Passivity based control of a class of Hamiltonian systems with nonholonomic constraints},
  author={Kenji Fujimoto and Satoru Sakai and Toshiharu Sugie},
  journal={Automatica},
  year={2012},
  volume={48},
  pages={3054-3063}
}
This paper is concerned with state and output feedback stabilization of a class of port-Hamiltonian systems with nonholonomic constraints. First we study canonical forms for port-Hamiltonian systems with nonholonomic constraints. Second, we give a new state feedback stabilization method by using non-smooth Hamiltonian functions via generalized canonical transformations. Third, we propose a dynamic output feedback stabilization method without measuring the velocity based on the corresponding… CONTINUE READING
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