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タイトル
和文: 
英文:Revived Transformation for Nonlinear Systems Subject to State Constraints 
著者
和文: 木村駿介, 中村文一, 伊吹 竜也, 三平 満司.  
英文: Shunsuke Kimura, Hisakazu Nakamura, Tatsuya Ibuki, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of 54th IEEE Conference on Decision and Control 
巻, 号, ページ         pp. 7554-7559
出版年月 2015年12月15日 
出版者
和文: 
英文:IEEE 
会議名称
和文: 
英文:54th IEEE Conference on Decision and Control 
開催地
和文: 
英文:Osaka 
DOI https://doi.org/10.1109/CDC.2015.7403413
アブストラクト 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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