Nonlinear Control Analysis of Nonholonomic Kinematic 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運動学システムに対する非線形制御論的解析
• アファイン コウソク オ ウケル ヒホロノミック ウンドウガク システム ニ タイスル ヒセンケイ セイギョロンテキ カイセキ

Abstract

This paper addresses analysis of nonlinear kinematic systems subject to nonholonomic affine constraints based on nonlinear control theory. We first give some definitions and concepts on affine constraints and affine/non-affine variables. Next, nonholonomic kinematic systems with affine constraints (NKSAC), which are kinematic models of systems subject to the affine constraints, are derived. We then analyze the NKSAC from the viewpoint of nonlinear control theory. Especially, we focus on local accessibility, local controllability and local asymptotic stabilizability of the NKSAC. Finally, some physical examples are shown in order to confirm our results.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 46 (12), 759-764, 2010

  The Society of Instrument and Control Engineers

Keywords

• nonholonomic kinematic system
• affine constraint
• accessibility
• controllability
• stabilizability

Details

• CRID: 1390282679480689536
• NII Article ID: 130004549445
• NII Article ID: 10027621683
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr.46.759
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 10955756
• Web Site: http://id.ndl.go.jp/bib/10955756
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10955756
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed