Proceedings of the 56th IEEE Conference on Decision and Control
Volume, Number, Page
pp. 6119-6124
Published date
Dec. 12, 2017
Publisher
Japanese:
English:
IEEE
Conference name
Japanese:
English:
56th IEEE Conference on Decision and Control
Conference site
Japanese:
English:
Melbourne
Abstract
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.