Tatsuya Kai. Generalized canonical transformations and passivity-based control for Nonholonomic Hamiltonian systems with affine constraints: Control of a coin on a rotating table. In 46th IEEE Conference on Decision and Control, CDC 2007, New Orleans, LA, USA, December 12-14, 2007. pages 3369-3374, IEEE, 2007. [doi]
Abstract is missing.