Conference Paper Revived Transformation for Nonlinear Systems Subject to State Constraints

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

This paper presents an input transformation with a coordinate transformation for a nonlinear system. The coordinate transformation transforms an unconstrained domain into an arbitrary constrained domain, but the differential equations of the system do not change by using the input transformation. We call the pair of these transformations Revived Transformation. We use the revived transformation to constrain the domain of state space. We show an application example of the present theory through position and attitude control of two-wheeled mobile robot systems subject to state constraints. The effectiveness of the proposed method is confirmed by computer simulation.

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