Towards exponential stabilization of nonholonomic systems via a hybrid control method

Isatada Matsune, Zhai Guisheng, Tomoaki Kobayashi, Joe Imae

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

3 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 and modify the hybrid control method in [1] for the NHI system, so that the entire system is exponentially stable. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and give some analysis together with an example for the case where there are constraints on control inputs. We also extend the discussion to the case of four-wheeled vehicles.

Original languageEnglish
Title of host publicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages2344-2348
Number of pages5
DOIs
Publication statusPublished - 2006 Dec 1
Event6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China
Duration: 2006 Jun 212006 Jun 23

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume1

Conference

Conference6th World Congress on Intelligent Control and Automation, WCICA 2006
CountryChina
CityDalian
Period06/6/2106/6/23

Keywords

  • Chained form
  • Exponential stability/stabilization
  • Hybrid control
  • Nonholonomic integrator (NHI)
  • Nonholonomic system
  • Switching strategy
  • Two(four)-wheeled vehicle

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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  • Cite this

    Matsune, I., Guisheng, Z., Kobayashi, T., & Imae, J. (2006). Towards exponential stabilization of nonholonomic systems via a hybrid control method. In Proceedings of the World Congress on Intelligent Control and Automation (WCICA) (pp. 2344-2348). [1712779] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 1). https://doi.org/10.1109/WCICA.2006.1712779