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Title
Japanese:状態制約を有する非線形システムの座標変換に対する状態方程式を変えない入力変換設計 
English:Input Transformation with Coordinate 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 Japanese 
Journal/Book name
Japanese:第2回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         733-5
Published date Mar. 4, 2015 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第2回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:東京都足立区 
English: 
Abstract This paper presents an input transformation with a coordinate transformation for a nonlinear system. We use the coordinate transformation to constrain the system’s domain. The domain is transformed to an arbitrary domain, but the differential equations of the system do not change. We show an example of the theorem through control of two wheeled mobile robot systems subject to state constraints. The effectiveness of the proposed method are confirmed by computer simulation.

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