Generalized canonical transformations and passivity-based control for Nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table

This paper considers a control problem for nonholonomic Hamiltonian systems with affine constraints (NHSAC), which are introduced in our previous work. We first explain nonholonomic affine constraints and the HNSAC. Next, we show generalized canonical transformations to change the NHSAC into a system for which we can easily design control laws. We then design a control algorithm based on passivity for a physical example: a coin on a rotating table. Finally, simulation results are illustrated to verify the proposed method.