Abstract
AbstractThis paper is devoted to modeling and analysis of Hamiltonian systems subject to nonholonomic time-varying affine constraints. First, time-varying affine constraints are defined and an integrability condition of them is shown. We next derive nonholonomic Hamiltonian systems with time-varying affine constraints (NHSTAC) by using a transformation and reduction on the expanded phase space. Then, we investigate passivity of the NHSTAC with the control input term and the output equation. Finally, in order to confirm the results, a boat on a running river is illustrated as a physical example.
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