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Generalized canonical transformations and passivity-based control for Nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table.

Tatsuya Kai
Published in: CDC (2007)
Keyphrases
  • control system
  • control theory
  • mechanical systems
  • control strategy
  • feedback control
  • sliding mode
  • management system
  • distributed systems
  • complex systems
  • optimal control
  • database
  • control strategies
  • visual servoing