Time-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations

The paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which preserves the passivity property. Utilizing this transformation time-varying asymptotically stabilizing controllers for the nonholonomic Hamiltonian systems are derived. The proposed method is a natural generalization of passivity based control since we only employ the feedback which preserves the Hamiltonian structure of the original system