On iterative learning control of nonholonomic Hamiltonian systems

This paper is concerned with iterative learning control of Hamiltonian systems with nonholonomic constraints. The author has proposed a novel iterative learning control method based on the symmetric property of Hamiltonian control systems. Unfortunately, however, it is not applicable to nonholonomic systems. The present paper proposes a set of feedback and coordinate transformations converting a given system into a form to which our method is applicable. Furthermore, an approximated version of the lerning procedure is also propsed which only requires a little knowledge of the plant system.