Conference Paper 非ホロノミックシステムに対するシステム蘇生変換の自由度

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 propose "The System Revived Transformation " for nonholonomic systems. The system revived transformations are based on several assumptions. In the cases of nonholonomic systems, however, these assumptions are easy to satisfy by using nonholonmic constraint directly. In addition, degrees of freedom of controllers are come out by dealing with more state variables. The effectiveness of the proposed method is confirmed by computer simulation of a three-wheeled mobile robot.

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