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Title
Japanese:ダイナミクスを考慮した非ホロノミック系の制御-非線形な状態制御部をもつ時間軸状態制御形に基づくアプローチ- 
English:Dynamic Control for Nonholonomic Systems Based on Time-State Control Form with a Nonlinear State Control Part 
Author
Japanese: 村上 尚人, 伊吹 竜也, 三平 満司.  
English: Naoto Murakami, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第4回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 215-222
Published date Mar. 6, 2017 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第4回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:岡山県 
English: 
Abstract This paper proposes a control method based on time-state control form with a nonlinear state control part for nonholonomic systems with dynamics. This method enables us to control a more general class of the systems guaranteeing all the states to converge to the origin than that of the previous work. First, a control law is proposed, and the convergence of the states and the boundedness of the inputs are analyzed. Next, the effectiveness of the control law is confirmed by numerical simulation.

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