This paper is devoted to a unified approach to controlling of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to modify the physical energy function of the system into a time-varying or nonsmooth one. This causes the trajectory tracking or asymptotically stable behavior of nonholonomic Hamiltonian systems. A brief survey on this topic is given with an emphasis on its extension to output feedback control which is one of the main advantages of the proposed passivity based approach.
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Kenji Fujimoto (2003) studied this question.