Exponential Stabilization of Nonholonomic Chained Systems with Specified Transient Response
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- IMURA Jun-ichi
- Faculty of Engineering, Kyoto University
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- KOBAYASHI Keigo
- Faculty of Engineering, Kyoto University
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- YOSHIKAWA Tsuneo
- Faculty of Engineering, Kyoto University
Bibliographic Information
- Other Title
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- 非ホロノミックチェインドシステムの過渡応答を考慮した指数安定化
- ヒ ホロノミック チェインド システム ノ カト オウトウ オ コウリョシタ
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Abstract
In this paper, we propose a control method for nonholonomic systems expressed by the chained form, where the exponential convergence to the desired final state is guaranteed and the desired transient response is achieved. Next, we propose a trajectory generation method for the chained system, which gives a systematic procedure to find a reference trajectory that passes several given points at each specified time and exponentially converges to the origin. Finally, our method is applied to control of a 4-wheeled car. In this case, to express all the state of the 4-wheeled car by the chained form, it is required to use several coordinate frames interchangeably. Thus the above method is extended to the case where several coordinate frames are needed. In addition, a simple simulation result is shown to verify the effectiveness of our method.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 33 (5), 375-383, 1997
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390001204500638208
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- NII Article ID
- 10002490473
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 4214739
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed