Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints

DOI10.1016/J.CNSNS.2011.12.019zbMath1300.70011OpenAlexW2016616137MaRDI QIDQ446106

Tatsuya Kai

Publication date: 28 August 2012

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2011.12.019

zbMATH Keywords

passivitynonlinear control systemsa radius-variable ball on a rotating table with a time-varying angular velocitycomplete nonholonomicitynonholonomic Hamiltonian systemsrheonomous affine constraints

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Hamilton's equations (70H05) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (2)

Adaptive motion/force control of nonholonomic mechanical systems with affine constraints ⋮ Adaptive Motion/Force Tracking Control for a Class of Mobile Manipulators

Cites Work

• Unnamed Item
• Unnamed Item
• Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints
• Geometric control and numerical aspects of nonholonomic systems
• Nonlinear control systems: An introduction
• Nonlinear systems. Analysis, stability, and control
• On the Hamiltonian formulation of nonholonomic mechanical systems
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Theoretical analysis for a class of rheonomous affine constraints on configuration manifolds. II: Foliation structures and integrating algorithms
• Theoretical analysis for a class of rheonomous affine constraints on configuration manifolds. I: Fundamental properties and integrability/nonintegrability conditions
• Nonholonomic motion planning: steering using sinusoids
• Exponential stabilization of mobile robots with nonholonomic constraints
• Near-optimal nonholonomic motion planning for a system of coupled rigid bodies
• Canonical transformations of the extended phase space, Toda lattices and the Stäckel family of integrable systems
• Hamiltonian dynamics on the symplectic extended phase space for autonomous and non-autonomous systems
• New numerical integrator for the Stäckel system conserving the same number of constants of motion as the degree of freedom
• Canonical transformation and stabilization of generalized Hamiltonian systems
• Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations

This page was built for publication: Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints