Towards exponential stabilization of nonholonomic systems via a hybrid control method

Isatada Matsune, Zhai Guisheng, Tomoaki Kobayashi, Joe Imae

研究成果: Conference contribution

3 被引用数 (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.

本文言語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
DOI
出版ステータスPublished - 2006 12 1
外部発表はい
イベント6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China
継続期間: 2006 6 212006 6 23

出版物シリーズ

名前Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
1

Conference

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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