Home >

news Help

Publication Information


Title
Japanese: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 
English:Degree of Freedom in System Revived Transformations for Nonholonomic Systems 
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 Japanese 
Journal/Book name
Japanese:第3回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 197-202
Published date Mar. 7, 2016 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第3回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:愛知県名古屋市 
English: 
Abstract 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.

©2007 Tokyo Institute of Technology All rights reserved.