A study on hybrid control of nonholonomic systems

Isatada Matsune; Guisheng Zhai; Tomoaki Kobayashi; Joe Imae

A study on hybrid control of nonholonomic systems

Isatada Matsune, Guisheng Zhai, Tomoaki Kobayashi, Joe Imae

研究成果 › 査読

抄録

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.

本文言語	English
ページ	211-214
ページ数	4
出版ステータス	Published - 2005
外部発表	はい
イベント	SICE Annual Conference 2005 - Okayama, Japan 継続期間: 2005 8月 8 → 2005 8月 10

Conference

Conference	SICE Annual Conference 2005
国/地域	Japan
City	Okayama
Period	05/8/8 → 05/8/10

ASJC Scopus subject areas

制御およびシステム工学
コンピュータサイエンスの応用
電子工学および電気工学

他のファイルとリンク

引用スタイル

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AU - Matsune, Isatada

AU - Zhai, Guisheng

AU - Kobayashi, Tomoaki

AU - Imae, Joe

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N2 - 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.

AB - 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.

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KW - Hybrid control

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KW - Stabilization

KW - Switching strategy

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T2 - SICE Annual Conference 2005

Y2 - 8 August 2005 through 10 August 2005

ER -

A study on hybrid control of nonholonomic systems

抄録

Conference

ASJC Scopus subject areas

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