Dynamic output feedback stabilization of a class of a nonholonomic Hamiltonian systems
Abstract
This paper is concerned with discontinuous output feedback stabilizationof a class of nonholonomic systems in a port-controlled Hamiltonian form. First,in order to obtain a dynamic feedback, an integrator is added to the system viaa generalized canonical transformation. Second, we clarify an equivalence betweenasymptotic stability of a state feedback system and that of the correspondingoutput feedback system. An output feedback stabilization method is derived basedon this equivalence. Furthermore, some numerical examples show the effectivenessof our technique.
