Abstract
This paper proposes a constructive design method of a static state feedback law which makes a nonholonomic port-Hamiltonian system follow a desired path. A generalized canonical transformation connects two port-Hamiltonian systems through a pair of a feedback and a coordinate change. This paper clarifies how a generalized canonical transformation connects the plant nonholonomic port-Hamiltonian system with an error system. Stabilizing the path following error system allows one to derive a constructive path following control law for the nonholonomic port-Hamiltonian system. Finally, an example shows a concrete design procedure of the proposed method.
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