A study on hybrid control of nonholonomic systems

Isatada Matsune, Guisheng Zhai, Tomoaki Kobayashi, Joe Imae

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, we consider a hybrid control strategy for stabilization of nonholonomic systems. In particular, we deal with a typical nonholonomic system, namely a two-wheeled vehicle. We first rewrite the system in a chained form, and then transform it into a nonholonomic integrator (NHI) system. Finally, we apply the hybrid control method in [1] for the NHI system. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and also extend the discussion to the case of four-wheeled vehicles.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages211-214
Number of pages4
Publication statusPublished - 2005
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama
Duration: 2005 Aug 82005 Aug 10

Other

OtherSICE Annual Conference 2005
CityOkayama
Period05/8/805/8/10

Fingerprint

Stabilization

Keywords

  • Chained form
  • Hybrid control
  • Non-holonomic integrator (nhi)
  • Nonholonomic system
  • Stabilization
  • Switching strategy
  • Two(four)-wheeled vehicle

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Matsune, I., Zhai, G., Kobayashi, T., & Imae, J. (2005). A study on hybrid control of nonholonomic systems. In Proceedings of the SICE Annual Conference (pp. 211-214)

A study on hybrid control of nonholonomic systems. / Matsune, Isatada; Zhai, Guisheng; Kobayashi, Tomoaki; Imae, Joe.

Proceedings of the SICE Annual Conference. 2005. p. 211-214.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsune, I, Zhai, G, Kobayashi, T & Imae, J 2005, A study on hybrid control of nonholonomic systems. in Proceedings of the SICE Annual Conference. pp. 211-214, SICE Annual Conference 2005, Okayama, 05/8/8.
Matsune I, Zhai G, Kobayashi T, Imae J. A study on hybrid control of nonholonomic systems. In Proceedings of the SICE Annual Conference. 2005. p. 211-214
Matsune, Isatada ; Zhai, Guisheng ; Kobayashi, Tomoaki ; Imae, Joe. / A study on hybrid control of nonholonomic systems. Proceedings of the SICE Annual Conference. 2005. pp. 211-214
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