论文信息 - A Hamiltonian approach to stabilization of nonholonomic mechanical systems

A Hamiltonian approach to stabilization of nonholonomic mechanical systems

A simple procedure is provided to write the equations of motion of controlled mechanical systems with constraints as controlled Hamiltonian equations with respect to a "Poisson" bracket which does not necessarily satisfy the Jacobi-identity. Based on the Hamiltonian form a stabilization procedure is proposed.<<ETX>>

A. J. van der Schaft | B. Maschke

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