Energy-Based Model-Reduction of Nonholonomic Mechanical Systems

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    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 languageUndefined
    Title of host publicationProceedings of the ICRA 2004
    Place of PublicationNew Orleans
    PublisherOmniPress
    Pages-
    ISBN (Print)0-7803-8233-1
    DOIs
    Publication statusPublished - 26 Apr 2004
    Event2004 IEEE International Conference on Robotics and Automation, ICRA 2004 - New Orleans, United States
    Duration: 26 Apr 20041 May 2004

    Publication series

    Name
    PublisherOmnipress
    Volume5

    Conference

    Conference2004 IEEE International Conference on Robotics and Automation, ICRA 2004
    Abbreviated titleICRA
    CountryUnited States
    CityNew Orleans
    Period26/04/041/05/04

    Keywords

    • IR-49231
    • METIS-221410

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