Conference Paper State Regulation of Dynamic Nonholonomic Systems Based on Time-state Control Form

村上, 尚人  ,  Murakami, Naoto  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

This paper investigates state regulation controlproblems of dynamic nonholonomic systems based on time-statecontrol form with the second-order time control part. Systemdescription is first introduced and transformation schemesfor nonholonomic systems into time-state control form arepresented. Then, a novel control design method based on theform with a class of time scale functions is proposed. Here, thepresent control laws achieve convergence of all the states to theorigin with bounded input. It is also shown that almost all of theproposed methods have robustness against a class of uncertaindisturbances. Some design examples and simulation are finallyprovided to show the validity of the present approach.

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