Modeling and Analysis of Nonholonomic Dynamic Systems with Affine Constraints

• Kai Tatsuya

  Faculty of Information Science and Electrical Engineering, Kyushu University

• Hara Shinji

  Graduate School of Information Science and Technology, The University of Tokyo

Bibliographic Information

Other Title

• アファイン拘束を受ける非ホロノミック動力学システムのモデリングと解析
• アファイン コウソク オ ウケル ヒホロノミック ドウリキガク システム ノ モデリング ト カイセキ

Abstract

This paper is concerned with modeling and theoretical analysis on nonlinear dynamic systems subject to nonholonomic affine constraints. First, we give some definitions and concepts on the affine constraints. Next, nonholonomic dynamic systems with affine constraints (NDSAC) are derived, and their normal forms and linear approximated systems are also shown. We then analyze the NDSAC from the viewpoint of nonlinear control theory, and especially focus on accessibility, controllability and stabilizability. Finally, some physical examples are illustrated to verify our results. <br>

Journal

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

  Transactions of the Institute of Systems, Control and Information Engineers 24 (1), 9-15, 2011

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

Keywords

• nonholonomic dynamic systems
• affine constraints
• accessibility
• controllability
• stabilizability

Details

• CRID: 1390001205164546688
• NII Article ID: 10028208799
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.24.9
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 10939382
• Web Site: http://id.ndl.go.jp/bib/10939382
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10939382
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed