Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems

Mathias Jesper Sørensen; Jan Dimon Bendtsen; Palle Andersen; Tom Søndergaard Pedersen

Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems

Mathias Jesper Sørensen, Jan Dimon Bendtsen, Palle Andersen, Tom Søndergaard Pedersen

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research

Abstract

A novel method for asymptotic stabilization of a class of non-holonomic systems is presented. The method is based on the port-controlled Hamiltonian description of electro-mechanical systems. The general system is augmented with so-called kinematic inputs, thus representing a special class of mobile robots. The asymptotic stability guarantees are obtained by applying a passivity based control design, based on energy shaping and damping injection. The method has been successfully applied to a particular four wheel steered, four wheel driven robot.

Original language	English
Title of host publication	Proceedings of 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lissabon, Portugal
Publication date	2004
Publication status	Published - 2004
Event	Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems - Duration: 19 May 2010 → …

Conference

Conference	Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems
Period	19/05/2010 → …

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Cite this

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title = "Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems",

abstract = "A novel method for asymptotic stabilization of a class of non-holonomic systems is presented. The method is based on the port-controlled Hamiltonian description of electro-mechanical systems. The general system is augmented with so-called kinematic inputs, thus representing a special class of mobile robots. The asymptotic stability guarantees are obtained by applying a passivity based control design, based on energy shaping and damping injection. The method has been successfully applied to a particular four wheel steered, four wheel driven robot.",

author = "S{\o}rensen, {Mathias Jesper} and Bendtsen, {Jan Dimon} and Palle Andersen and Pedersen, {Tom S{\o}ndergaard}",

year = "2004",

language = "English",

booktitle = "Proceedings of 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lissabon, Portugal",

note = "Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems ; Conference date: 19-05-2010",

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TY - GEN

T1 - Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems

AU - Sørensen, Mathias Jesper

AU - Bendtsen, Jan Dimon

AU - Andersen, Palle

AU - Pedersen, Tom Søndergaard

PY - 2004

Y1 - 2004

N2 - A novel method for asymptotic stabilization of a class of non-holonomic systems is presented. The method is based on the port-controlled Hamiltonian description of electro-mechanical systems. The general system is augmented with so-called kinematic inputs, thus representing a special class of mobile robots. The asymptotic stability guarantees are obtained by applying a passivity based control design, based on energy shaping and damping injection. The method has been successfully applied to a particular four wheel steered, four wheel driven robot.

AB - A novel method for asymptotic stabilization of a class of non-holonomic systems is presented. The method is based on the port-controlled Hamiltonian description of electro-mechanical systems. The general system is augmented with so-called kinematic inputs, thus representing a special class of mobile robots. The asymptotic stability guarantees are obtained by applying a passivity based control design, based on energy shaping and damping injection. The method has been successfully applied to a particular four wheel steered, four wheel driven robot.

M3 - Article in proceeding

BT - Proceedings of 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lissabon, Portugal

T2 - Asymptotic Stabilization of Non-holonomic Port-controlled Hamiltonian Systems

Y2 - 19 May 2010

ER -