Port-Hamiltonian modelling of a car-like robot

This paper proposes a dynamical modelling of a car-like robot based on the port-Hamiltonian approach. It consists in projecting the dynamics of a free body into the possible velocity space determined by the non-holonomic constraints of the vehicle. For this approach, it is considered a simplified bicycle-like representation of the Ackermann mechanism with rear traction and steering control on the front wheel. Simulations are given to illustrate the effectiveness of the approach.