Energy-Based Model-Reduction of Nonholonomic Mechanical Systems


Duindam, Vincent and Stramigioli, Stefano (2004) Energy-Based Model-Reduction of Nonholonomic Mechanical Systems. In: IEEE International Conference on Robotics and Automation, ICRA, 26 April-1 May 2004, New Orleans, USA (pp. pp. 4584-4589).

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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.
Item Type:Conference or Workshop Item
Copyright:© 2004 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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