Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations

This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The basic strategy of this approach is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This technique works for both holonomic and nonholonomic port-controlled Hamiltonian systems. A practical design procedure to derive global tracking controllers for those systems is proposed. This method is a natural extension of the conventional passivity based control.