Preliminary results on asymptotic stabilization of Hamiltonian systems with nonholonomic constraints
Preliminary results on asymptotic stabilization of Hamiltonian systems with nonholonomic constraints
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非完整约束哈密顿系统渐近稳定性的初步结果
DOI：
10.1109/cdc.1995.478917
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
A. J. Schaft
中科院分区：
文献类型：
--
作者：
H. Khennouf;C. C. Wit;A. J. Schaft
本文用van der Schaft和Maschke（1994）提出的哈密顿公式给出了非完整机械系统渐近镇定的一些初步结果。我们的工作旨在建立一个通用公式，用于设计在广义坐标（位置和动量）中描述的某些机械系统的时变控制器。本文给出了将哈密顿系统转换为应用中心流形定理所需的形式的坐标变换。我们还给出了一个分析稳定性的实例。
This paper presents some preliminary results on asymptotic stabilization of nonholonomic mechanical systems using the Hamiltonian formulation proposed by van der Schaft and Maschke (1994). Our work seeks to establish a general formulation for designing time-varying controllers for some mechanical system described in the generalized coordinates (position and momentum). The paper gives the change of coordinates that transforms the Hamiltonian system to the form needed to apply the center manifold theorem. We also present a worked example for which stability is analyzed.