Stabilization of a class of Hamiltonian systems with nonholonomic constraints via canonical transformations
Stabilization of a class of Hamiltonian systems with nonholonomic constraints via canonical transformations
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通过规范变换稳定一类具有非完整约束的哈密顿系统
DOI：
10.23919/ecc.1999.7099451
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
T. Sugie
中科院分区：
文献类型：
--
作者：
K. Fujimoto;T. Sugie
研究广义哈密顿公式下的非完整系统的渐近镇定问题。首先，证明了这种系统可以通过广义正则变换转化为具有特定结构矩阵的正则形式。然后给出了一种构造非光滑哈密顿函数使反馈系统渐近稳定的具体方法。数值算例表明了该方法的有效性。
This paper is concerned with the asymptotic stabilization of nonholonomic systems which are in generalized Hamiltonian formulae. First, it is shown that such systems can be transformed into canonical forms which have specified structure matrices via generalized canonical transformations. Then a concrete method to construct a non-smooth Hamiltonian function which renders the feedback system asymptotically stable is shown. Some numerical examples are also given to show the effectiveness of our technique.