Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations

This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This strategy works for both holonomic and nonholonomic port-controlled Hamiltonian systems. A practical design procedure of global tracking controllers for those systems is proposed. This method is a natural extension of the conventional passivity based control and is expected to derive robustly stable control systems.