非ホロノミックチェインドシステムのハイブリッド時間軸状態形による最適制御  [in Japanese] Optimal Control of Nonholonomic Chained Systems Using Hybrid Time-State Form  [in Japanese]

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Author(s)

Abstract

In this paper, we propose a control method for nonholonomic chained systems. We transform the systems into time-invariant linear systems using a hybrid time-state control form and solve an optimal control problem to get an optimal trajectory with a switching point. The optimal input is derived as a feedback controller for the system. We apply the proposed method to a 4-wheeled vehicle and give numerical simulation results to show its effectiveness.

Journal

  • Transactions of the Institute of Systems, Control and Information Engineers

    Transactions of the Institute of Systems, Control and Information Engineers 15(5), 246-252, 2002-05-15

    THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

References:  14

Cited by:  1

Codes

  • NII Article ID (NAID)
    10008469632
  • NII NACSIS-CAT ID (NCID)
    AN1013280X
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    13425668
  • NDL Article ID
    6142723
  • NDL Source Classification
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL Call No.
    Z14-195
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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