Time-varying output feedback stabilization of a class of nonholonomic Hamiltonian systems via canonical transformations

The paper is concerned with the output feedback stabilization of a class of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. In order to obtain a dynamic feedback, an integrator is added to the system firstly. Then the generalized canonical transformation is utilized to let the integrator play the role of an estimator of the unmeasurable state based on passivity. This technique can derive a time-varying output feedback stabilizing controller under a certain assumption. Furthermore the effectiveness of the proposed technique is demonstrated via a well known knife edge example