Conference Paper Chained systemへの変換の自由度に着目した半凹制御Lyapunov関数による2輪車両型移動体の制御

木村, 駿介  ,  Kimura, Shunsuke  ,  中村, 文一  ,  Nakamura, Hisakazu  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

In this paper, we present a design of an asymptotically stabilizing controller for a two-wheeled mobile robot. A controller based a semiconcave control Lyapunov function stabilizes the origin of a chained form system, which can be transform into the two-wheeled mobile robot system. Then, we introduce degreesof freedom of the transformation, and show some semiconcave control Lyapunov functions. The effectiveness of the proposed method are conrmed by computer simulation.

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