Controllability analysis and control design of nonholonomic systems 非ホロノミックシステムの可制御性解析と制御設計
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著者
書誌事項
- タイトル
-
Controllability analysis and control design of nonholonomic systems
- タイトル別名
-
非ホロノミックシステムの可制御性解析と制御設計
- 著者名
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小林, 啓吾
- 著者別名
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コバヤシ, ケイゴ
- 学位授与大学
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京都大学
- 取得学位
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博士 (工学)
- 学位授与番号
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甲第7836号
- 学位授与年月日
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1999-03-23
注記・抄録
博士論文
目次
- 論文目録 / (0001.jp2)
- Abstract / p1 (0004.jp2)
- Contents / p5 (0006.jp2)
- 1 Introduction / p1 (0007.jp2)
- 1.1 Control of nonholonomic systems / p1 (0007.jp2)
- 1.2 Control of first order nonholonomic systems / p2 (0008.jp2)
- 1.3 Control of second order nonholonomic systems / p7 (0010.jp2)
- 1.4 Purpose and outline of this thesis / p13 (0013.jp2)
- 2 Exponential Stabilization Problem of Nonholonomic Chained Systems with Specified Transient Response / p15 (0014.jp2)
- 2.1 Introduction / p15 (0014.jp2)
- 2.2 Motivation and design procedure / p17 (0015.jp2)
- 2.3 Stabilizing controller with specified transient response / p21 (0017.jp2)
- 2.4 Application to a 4-wheeled car / p29 (0021.jp2)
- 2.5 Proof of Theorem 2.1 / p38 (0026.jp2)
- 2.6 Conclusion / p44 (0029.jp2)
- 3 Controllability of Under-actuated Planar Manipulators with One Unactuated Joint / p45 (0029.jp2)
- 3.1 Introduction / p45 (0029.jp2)
- 3.2 Equation of motion of n link underactuated manipulators / p46 (0030.jp2)
- 3.3 Time reversed system / p49 (0031.jp2)
- 3.4 Stabilization to Sѡ / p50 (0032.jp2)
- 3.5 Local controllability around S_ѡ / p53 (0033.jp2)
- 3.6 Conclusion / p56 (0035.jp2)
- 4 Controllability of Under-actuated Planar Manipulators with Two Unactuated Joints / p57 (0035.jp2)
- 4.1 Introduction / p57 (0035.jp2)
- 4.2 Main result / p58 (0036.jp2)
- 4.3 Time reversed system of Lagrangian system / p60 (0037.jp2)
- 4.4 Derivation of the equation of motion / p61 (0037.jp2)
- 4.5 Stabilization of system B / p63 (0038.jp2)
- 4.6 Local controllability of system B / p65 (0039.jp2)
- 4.7 Proof of Theorem 4.2 / p66 (0040.jp2)
- 4.8 Discussion on the general case / p68 (0041.jp2)
- 4.9 Conclusion / p68 (0041.jp2)
- 5 Exponential Stabilization of a Under-actuated Planar Manipulator with One Unactuated Joint / p69 (0041.jp2)
- 5.1 Introduction / p69 (0041.jp2)
- 5.2 Equation of P²R system / p70 (0042.jp2)
- 5.3 Controller for the second order chained systems / p72 (0043.jp2)
- 5.4 Simulation / p75 (0044.jp2)
- 5.5 Proof of Theorem 5.2 / p78 (0046.jp2)
- 5.6 Conclusion / p80 (0047.jp2)
- 6 Conclusions / p81 (0047.jp2)
