Title :
A Hamiltonian approach to stabilization of nonholonomic mechanical systems
Author :
Maschke, B.M. ; Van der Schaft, A.J.
Author_Institution :
Lab. d´´Automatisme Industriel, Conservatoire Nat. des Arts et Metiers, Paris, France
Abstract :
A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a “Poisson” bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed
Keywords :
Jacobian matrices; stability; Hamiltonian approach; Hamiltonian form; Jacobi-identity; Poisson bracket; controlled mechanical systems; equations of motion; nonholonomic mechanical systems; stabilization; Art; Control systems; Jacobian matrices; Kinetic energy; Lagrangian functions; Mathematics; Mechanical systems; Motion control; Poisson equations; State-space methods;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411344
