High Order Nonholonomic Systems Control by Backstepping Approach

• NAM Taek-Kun

  Mechatronics group, Korea Electrotechnology Research Institute

• MITA Tsutomu

  Faculty of Engineering, Tokyo Institute of Technology

Bibliographic Information

Other Title

• Backsteppingアプローチによる高次Chained formの制御
• Backstepping アプローチ ニ ヨル コウジ Chained form ノ セイギョ

Abstract

In this paper, we proposed feedback controller for the stabilization of nonholonomic systems in high order chained form by integrator backstepping method. The proposed controller yields exponential convergence of the states to the origin. The control strategy is applied to the posture control of an underactuated manipulator to verify the effectiveness of the control algorithm.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 38 (6), 528-536, 2002

  The Society of Instrument and Control Engineers

Keywords

• backstepping control
• nonholonomic system
• underactuated manipulator

Details

• CRID: 1390282679479047936
• NII Article ID: 130003791797
• NII Article ID: 10008831452
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr1965.38.528
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 6199629
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6199629
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/38/6/38_6_528/_pdf
• Data Source:
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  • CiNii Articles
• Abstract License Flag: Disallowed