Stabilization of a class of Hamiltonian systems with nonholonomic constraints via canonical transformations

This paper is concerned with the asymptotic stabilization of nonholonomic systems which are in generalized Hamiltonian formulae. First, it is shown that such systems can be transformed into canonical forms which have specified structure matrices via generalized canonical transformations. Then a concrete method to construct a non-smooth Hamiltonian function which renders the feedback system asymptotically stable is shown. Some numerical examples are also given to show the effectiveness of our technique.