Title :
A control strategy for a class of nonholonomic systems - time-state control form and its application
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
In this paper, we propose a control strategy for nonholonomic systems using the time-state control form. This approach allows us to control nonholonomic systems which cannot be transformed to chained form. We apply this control strategy to the position control of multitrailer systems
Keywords :
nonlinear control systems; position control; stability; vehicles; multitrailer systems; nonholonomic systems; position control; time-state control; Angular velocity; Control systems; Design methodology; Informatics; Nonlinear equations; Nonlinear systems; Orbital robotics; Position control; State feedback; Wheels;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411066
