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Title
Japanese: 
English:Revived Transformation for Nonlinear Systems Subject to State Constraints 
Author
Japanese: 木村駿介, 中村文一, 伊吹 竜也, 三平 満司.  
English: Shunsuke Kimura, Hisakazu Nakamura, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of 54th IEEE Conference on Decision and Control 
Volume, Number, Page         pp. 7554-7559
Published date Dec. 15, 2015 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:54th IEEE Conference on Decision and Control 
Conference site
Japanese: 
English:Osaka 
DOI https://doi.org/10.1109/CDC.2015.7403413
Abstract 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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