STABILIZABILITY OF NONHOLONOMIC CONTROL-SYSTEMS

被引:26
作者
BLOCH, AM
机构
[1] Department of Mathematics, The Ohio State University, Columbus
基金
美国国家科学基金会;
关键词
STABILITY; CONSTRAINT THEORY; CONTROL THEORY; NONLINEAR SYSTEMS; STABILITY CRITERIA;
D O I
10.1016/0005-1098(92)90132-Y
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We consider here the problem of stabilization of nonlinear Hamiltonian control systems with nonholonomic constraints. Such systems are of interest in various applications including the control of robotic systems. We discuss the formulation of Hamiltonian systems with nonholonomic constraints, in particular considering the differences between the Dirac theory of constraints, the classical theory of nonholonomic constraints, and Weber's theory of generalized nonholonomic constraints. Stabilization of systems with these constraints is discussed using the theory of Hamiltonian control systems, and a reduced stabilization criterion is given.
引用
收藏
页码:431 / 435
页数:5
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