Abstract
This paper is concerned with exponential stabilization of nonholonomicport-controlled Hamiltonian systems with respect to homogeneous norm viaoutput feedback.First, a technique is introduced which asymptotically stabilizes nonholonomic Hamiltonian systems using time-varying outputfeedback.In order to obtain a dynamic feedback, an integrator is added to thesystem firstly.Then a special class of generalized canonical transformation is utilized to let theintegrator play the role of an estimator of the unmeasurable statebased on passivity and to preserve the structure of nonholonomicHamiltonian systems.Thus, this technique achieves the time-varying output feedback stabilization of nonholonomicHamiltonian systems.Next, it is proved that this technique can be extended to render thefeedback system exponentiallystable. The technique above guarantees exponential stability of the feeback system if the design parameters arechosen in a certain way based on homogeneity of the system.Furthermore, the effectiveness of the proposed technique isdemonstrated using a four-wheeled vehicle example.
