Stabilization of a class of Hamiltonian systems with nonholonomic constraints and its experimental evaluation

Author

Fujimoto, Kenji ; Ishikawa, Keitaro ; Sugie, Toshiharu

Author_Institution

Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

3478

Abstract

In this paper we present an asymptotic stabilization procedure of nonholonomic systems which are described in generalized Hamiltonian formulae. This paper shows how to transform such systems into canonical forms with specified structure matrices via generalized canonical transformations. Then the conditions for nonsmooth Hamiltonian functions to yield asymptotically stable control systems are given with a concrete stabilization procedure. A tradeoff between the convergence rate and robustness are discussed as well. Furthermore the effectiveness of our technique is evaluated by experiments using a two-wheeled vehicle system

Keywords

asymptotic stability; convergence; matrix algebra; robust control; Hamiltonian systems; asymptotic stabilization; convergence rate; generalized Hamiltonian formulae; generalized canonical transformations; nonholonomic constraints; nonsmooth Hamiltonian functions; robustness; specified structure matrices; two-wheeled vehicle system; Concrete; Control systems; Convergence; Equations; Feedback; Informatics; Information technology; Robust control; Robustness; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.827866

Filename

827866