On path following control of nonholonomic port-Hamiltonian systems via generalized canonical transformations
R Shima, Y Okura, K Fujimoto, I Maruta - IFAC-PapersOnLine, 2019 - Elsevier
This paper proposes a constructive design method of a static state feedback law which
makes a nonholonomic port-Hamiltonian system follow a desired path. A generalized …
makes a nonholonomic port-Hamiltonian system follow a desired path. A generalized …
[PDF][PDF] Robust Control of Port-Hamiltonian Systems
J Ferguson - 2018 - nova.newcastle.edu.au
The port-Hamiltonian framework, which is utilised for both system modelling and control
design, emphasises the role of physical energy, component interconnections and …
design, emphasises the role of physical energy, component interconnections and …