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Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations

โœ Scribed by Fujimoto, Kenji; Sakurama, Kazunori; Sugie, Toshiharu

Book ID
123018440
Publisher
The European Union Control Association
Year
2004
Tongue
English
Weight
174 KB
Volume
10
Category
Article
ISSN
0947-3580

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๐Ÿ“œ SIMILAR VOLUMES

Stabilization of Hamiltonian systems wit
Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations
โœ Kenji Fujimoto; Toshiharu Sugie ๐Ÿ“‚ Article ๐Ÿ“… 2001 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 132 KB

This paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae based on time-varying generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which modify the kinetic energy of the orig

Canonical transformation and stabilizati
Canonical transformation and stabilization of generalized Hamiltonian systems
โœ Kenji Fujimoto; Toshiharu Sugie ๐Ÿ“‚ Article ๐Ÿ“… 2001 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 124 KB

This paper introduces generalized canonical transformations for generalized Hamiltonian systems which convert a generalized Hamiltonian system into another one, and preserve the generalized Hamiltonian structure of the original. As in classical mechanics, it is expected that canonical transformation