Towards exponential stabilization of nonholonomic systems via a hybrid control method

Isatada Matsune, Guisheng Zhai, Tomoaki Kobayashi, Joe Imae

研究成果: Conference contribution

3 引用 (Scopus)

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 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.

元の言語English
ホスト出版物のタイトルProceedings of the World Congress on Intelligent Control and Automation (WCICA)
ページ2344-2348
ページ数5
1
DOI
出版物ステータスPublished - 2006
外部発表Yes
イベント6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian
継続期間: 2006 6 212006 6 23

Other

Other6th World Congress on Intelligent Control and Automation, WCICA 2006
Dalian
期間06/6/2106/6/23

Fingerprint

Stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

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

Towards exponential stabilization of nonholonomic systems via a hybrid control method. / Matsune, Isatada; Zhai, Guisheng; Kobayashi, Tomoaki; Imae, Joe.

Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 巻 1 2006. p. 2344-2348 1712779.

研究成果: Conference contribution

Matsune, I, Zhai, G, Kobayashi, T & Imae, J 2006, Towards exponential stabilization of nonholonomic systems via a hybrid control method. : Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 巻. 1, 1712779, pp. 2344-2348, 6th World Congress on Intelligent Control and Automation, WCICA 2006, Dalian, 06/6/21. https://doi.org/10.1109/WCICA.2006.1712779
Matsune I, Zhai G, Kobayashi T, Imae J. Towards exponential stabilization of nonholonomic systems via a hybrid control method. : Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 巻 1. 2006. p. 2344-2348. 1712779 https://doi.org/10.1109/WCICA.2006.1712779
Matsune, Isatada ; Zhai, Guisheng ; Kobayashi, Tomoaki ; Imae, Joe. / Towards exponential stabilization of nonholonomic systems via a hybrid control method. Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 巻 1 2006. pp. 2344-2348
@inproceedings{d405d71920e74dda8cfd83a08342346e,
title = "Towards exponential stabilization of nonholonomic systems via a hybrid control method",
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.",
keywords = "Chained form, Exponential stability/stabilization, Hybrid control, Nonholonomic integrator (NHI), Nonholonomic system, Switching strategy, Two(four)-wheeled vehicle",
author = "Isatada Matsune and Guisheng Zhai and Tomoaki Kobayashi and Joe Imae",
year = "2006",
doi = "10.1109/WCICA.2006.1712779",
language = "English",
isbn = "1424403324",
volume = "1",
pages = "2344--2348",
booktitle = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

}

TY - GEN

T1 - Towards exponential stabilization of nonholonomic systems via a hybrid control method

AU - Matsune, Isatada

AU - Zhai, Guisheng

AU - Kobayashi, Tomoaki

AU - Imae, Joe

PY - 2006

Y1 - 2006

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 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.

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 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.

KW - Chained form

KW - Exponential stability/stabilization

KW - Hybrid control

KW - Nonholonomic integrator (NHI)

KW - Nonholonomic system

KW - Switching strategy

KW - Two(four)-wheeled vehicle

UR - http://www.scopus.com/inward/record.url?scp=34047207320&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34047207320&partnerID=8YFLogxK

U2 - 10.1109/WCICA.2006.1712779

DO - 10.1109/WCICA.2006.1712779

M3 - Conference contribution

AN - SCOPUS:34047207320

SN - 1424403324

SN - 9781424403325

VL - 1

SP - 2344

EP - 2348

BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

ER -