A study on stabilization of nonholonomic systems via a hybrid control method

Guisheng Zhai, Isatada Matsune, Tomoaki Kobayashi, Joe Imae

研究成果: Article

7 引用 (Scopus)

抜粋

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 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.

元の言語English
ページ(範囲)327-338
ページ数12
ジャーナルNonlinear Dynamics and Systems Theory
7
発行部数3
出版物ステータスPublished - 2007 9 1
外部発表Yes

ASJC Scopus subject areas

  • Mathematical Physics
  • Applied Mathematics

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