Energy-Based Model-Reduction of Nonholonomic Mechanical Systems

V. Duindam; Stefano Stramigioli

doi:10.1109/ROBOT.2004.1302440

Energy-Based Model-Reduction of Nonholonomic Mechanical Systems

V. Duindam, Stefano Stramigioli

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

9 Citations (Scopus)

170 Downloads (Pure)

Abstract

Research on nonholonomic mechanical systems has focused mainly on describing geometric structure, controllability, and motion planning, yet little attention has been paid to several energy aspects of these systems. This paper describes a method to model nonholonomic mechanical systems as reduced-order port-controlled Hamiltonian systems, in which the energy structure is shown explicitly. We show how very simple equations are obtained for the example of the snakeboard, and then discuss how these equations can be used to derive an energy-based controller in an intuitive way.

Original language	Undefined
Title of host publication	Proceedings of the ICRA 2004
Place of Publication	New Orleans
Publisher	OmniPress
Pages	-
ISBN (Print)	0-7803-8233-1
DOIs	https://doi.org/10.1109/ROBOT.2004.1302440
Publication status	Published - 26 Apr 2004
Event	2004 IEEE International Conference on Robotics and Automation, ICRA 2004 - New Orleans, United States Duration: 26 Apr 2004 → 1 May 2004

Publication series

Name
Publisher	Omnipress
Volume	5

Conference

Conference	2004 IEEE International Conference on Robotics and Automation, ICRA 2004
Abbreviated title	ICRA
Country/Territory	United States
City	New Orleans
Period	26/04/04 → 1/05/04

Keywords

IR-49231
METIS-221410

Access to Document

10.1109/ROBOT.2004.1302440

Energy-based_-_duindam

Cite this

@inproceedings{e681a37c28ac45259e2e30ddecc64d2a,

title = "Energy-Based Model-Reduction of Nonholonomic Mechanical Systems",

abstract = "Research on nonholonomic mechanical systems has focused mainly on describing geometric structure, controllability, and motion planning, yet little attention has been paid to several energy aspects of these systems. This paper describes a method to model nonholonomic mechanical systems as reduced-order port-controlled Hamiltonian systems, in which the energy structure is shown explicitly. We show how very simple equations are obtained for the example of the snakeboard, and then discuss how these equations can be used to derive an energy-based controller in an intuitive way.",

keywords = "IR-49231, METIS-221410",

author = "V. Duindam and Stefano Stramigioli",

year = "2004",

month = apr,

day = "26",

doi = "10.1109/ROBOT.2004.1302440",

language = "Undefined",

isbn = "0-7803-8233-1",

publisher = "OmniPress",

pages = "--",

booktitle = "Proceedings of the ICRA 2004",

note = "2004 IEEE International Conference on Robotics and Automation, ICRA 2004 ; Conference date: 26-04-2004 Through 01-05-2004",

}

TY - GEN

T1 - Energy-Based Model-Reduction of Nonholonomic Mechanical Systems

AU - Duindam, V.

AU - Stramigioli, Stefano

PY - 2004/4/26

Y1 - 2004/4/26

N2 - Research on nonholonomic mechanical systems has focused mainly on describing geometric structure, controllability, and motion planning, yet little attention has been paid to several energy aspects of these systems. This paper describes a method to model nonholonomic mechanical systems as reduced-order port-controlled Hamiltonian systems, in which the energy structure is shown explicitly. We show how very simple equations are obtained for the example of the snakeboard, and then discuss how these equations can be used to derive an energy-based controller in an intuitive way.

AB - Research on nonholonomic mechanical systems has focused mainly on describing geometric structure, controllability, and motion planning, yet little attention has been paid to several energy aspects of these systems. This paper describes a method to model nonholonomic mechanical systems as reduced-order port-controlled Hamiltonian systems, in which the energy structure is shown explicitly. We show how very simple equations are obtained for the example of the snakeboard, and then discuss how these equations can be used to derive an energy-based controller in an intuitive way.

KW - IR-49231

KW - METIS-221410

U2 - 10.1109/ROBOT.2004.1302440

DO - 10.1109/ROBOT.2004.1302440

M3 - Conference contribution

SN - 0-7803-8233-1

SP - -

BT - Proceedings of the ICRA 2004

PB - OmniPress

CY - New Orleans

T2 - 2004 IEEE International Conference on Robotics and Automation, ICRA 2004

Y2 - 26 April 2004 through 1 May 2004

ER -