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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
