Proceedings of the 56th IEEE Conference on Decision and Control
巻, 号, ページ
pp. 6119-6124
出版年月
2017年12月12日
出版者
和文:
英文:
IEEE
会議名称
和文:
英文:
56th IEEE Conference on Decision and Control
開催地
和文:
英文:
Melbourne
アブストラクト
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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