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Title
Japanese: 
English:State Regulation of Dynamic Nonholonomic Systems Based on Time-state Control Form 
Author
Japanese: 村上 尚人, 伊吹 竜也, 三平 満司.  
English: Naoto Murakami, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English: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.

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