A Hamiltonian approach to stabilization of nonholonomic mechanical systems

B.M. Maschke; A.J. van der Schaft

doi:10.1109/CDC.1994.411344

A Hamiltonian approach to stabilization of nonholonomic mechanical systems

B.M. Maschke, A.J. van der Schaft

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a "Poisson" bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed.

Original language	English
Title of host publication	Proceedings of the 1994 33rd IEEE Conference on Decision and Control
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	2950-2954
Number of pages	5
ISBN (Print)	0-7803-1968-0
DOIs	https://doi.org/10.1109/CDC.1994.411344
Publication status	Published - 17 Jan 1994
Event	33rd IEEE Conference on Decision and Control, CDC 1994 - Buena Vista Palace, Lake Buena Vista, United States Duration: 14 Dec 1994 → 16 Dec 1994 Conference number: 33

Conference

Conference	33rd IEEE Conference on Decision and Control, CDC 1994
Abbreviated title	CDC
Country/Territory	United States
City	Lake Buena Vista
Period	14/12/94 → 16/12/94

Access to Document

10.1109/CDC.1994.411344

Maschke1994hamiltonianFinal published version, 405 KB

1 Report

A Hamiltonian approach to stabilization of nonholonomic mechanical systems
Maschke, B. M. & van der Schaft, A. J., 1994, Enschede: University of Twente. 10 p. (Memorandum; no. 1194)
Research output: Book/Report › Report › Professional

Cite this

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title = "A Hamiltonian approach to stabilization of nonholonomic mechanical systems",

abstract = "A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a {"}Poisson{"} bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed.",

author = "B.M. Maschke and {van der Schaft}, A.J.",

year = "1994",

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doi = "10.1109/CDC.1994.411344",

language = "English",

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Maschke, BM & van der Schaft, AJ 1994, A Hamiltonian approach to stabilization of nonholonomic mechanical systems. in Proceedings of the 1994 33rd IEEE Conference on Decision and Control. IEEE, Piscataway, NJ, pp. 2950-2954, 33rd IEEE Conference on Decision and Control, CDC 1994, Lake Buena Vista, Florida, United States, 14/12/94. https://doi.org/10.1109/CDC.1994.411344

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AU - van der Schaft, A.J.

N1 - Conference code: 33

PY - 1994/1/17

Y1 - 1994/1/17

N2 - A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a "Poisson" bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed.

AB - A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a "Poisson" bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed.

U2 - 10.1109/CDC.1994.411344

DO - 10.1109/CDC.1994.411344

M3 - Conference contribution

SN - 0-7803-1968-0

SP - 2950

EP - 2954

BT - Proceedings of the 1994 33rd IEEE Conference on Decision and Control

PB - IEEE

CY - Piscataway, NJ

T2 - 33rd IEEE Conference on Decision and Control, CDC 1994

Y2 - 14 December 1994 through 16 December 1994

ER -

A Hamiltonian approach to stabilization of nonholonomic mechanical systems

Abstract

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Research output

A Hamiltonian approach to stabilization of nonholonomic mechanical systems

Cite this