時間軸状態制御形によるドリフト項をもたない非ホロノミックシステムの安定化 Stabilization of a Class of Nonholonomic Systems without Drift Using Time-State Control Form
The authors have proposed the time-state control form and its control strategy to control a class of nonholonomic systems without a drift term, which method is more useful, or has broader applicable class of systems, than the chained form one. In this paper, necessary and sufficient conditions for transformation of a class of nonholonomic systems into the time-state control form are given, and new control strategy for the time-state control form to ensure the (exponential) stabilization of the subsystem by some sort of Lyapunov's discussion is also presented. For each of the topics, simple and illustrative example will be shown.
システム制御情報学会論文誌 12(11), 647-654, 1999-11-15