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タイトル
和文: 
英文:State Regulation of Dynamic Nonholonomic Systems Based on Time-state Control Form 
著者
和文: 村上 尚人, 伊吹 竜也, 三平 満司.  
英文: Naoto Murakami, Tatsuya Ibuki, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of the 56th IEEE Conference on Decision and Control 
巻, 号, ページ         pp. 6119-6124
出版年月 2017年12月12日 
出版者
和文: 
英文:IEEE 
会議名称
和文: 
英文:56th IEEE Conference on Decision and Control 
開催地
和文: 
英文:Melbourne 
アブストラクト This paper investigates state regulation control problems of dynamic nonholonomic systems based on time-state control form with the second-order time control part. System description is first introduced and transformation schemes for nonholonomic systems into time-state control form are presented. Then, a novel control design method based on the form with a class of time scale functions is proposed. Here, the present control laws achieve convergence of all the states to the origin with bounded input. It is also shown that almost all of the proposed methods have robustness against a class of uncertain disturbances. Some design examples and simulation are finally provided to show the validity of the present approach.

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