Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
696082 | Automatica | 2012 | 10 Pages |
Abstract
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 state feedback result. Numerical examples demonstrate the effectiveness of the proposed method.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Kenji Fujimoto, Satoru Sakai, Toshiharu Sugie,