Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
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Modeling and Passivity Analysis of Nonholonomic Hamiltonian Systems with Affine Constraints
Tatsuya Kai
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2009 Volume 22 Issue 9 Pages 331-338

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Abstract

In this paper, we introduce and analyze Hamiltonian systems subject to nonholonomic affine constraints. We first sum up some concepts of Hamiltonian systems defined on both the phase space and the expanded phase space. Next, we derive nonholonomic Hamiltonian systems with affine constraints (NHSAC) by using a transformation and reduction on the expanded phase space. Then, passivity of the NHSAC with the control input term and the output equation is investigated. Finally, a coin on a rotating table is illustrated to confirm the results as a physical example.

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© 2009 The Institute of Systems, Control and Information Engineers
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