文章基本信息

标题：On path following control of nonholonomic port-Hamiltonian systems via generalized canonical transformations
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作者：Ryotaro Shima ; Yuki Okura ; Kenji Fujimoto 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：16
页码：298-303
DOI：10.1016/j.ifacol.2019.11.795
语种：English
出版社：Elsevier
摘要：This paper proposes a constructive design method of a static state feedback law which makes a nonholonomic port-Hamiltonian system follow a desired path. A generalized canonical transformation connects two port-Hamiltonian systems through a pair of a feedback and a coordinate change. This paper clarifies how a generalized canonical transformation connects the plant nonholonomic port-Hamiltonian system with an error system. Stabilizing the path following error system allows one to derive a constructive path following control law for the nonholonomic port-Hamiltonian system. Finally, an example shows a concrete design procedure of the proposed method.
关键词：KeywordsNonlinear controlpath followingnonholonomic systemsmechanical systems