Chained form transformation algorithm for a class of 3-states and 2-inputs nonholonomic systems and attitude control of a space robot

Author

Matsuno, Fumitoshi ; Tsurusaki, Junji

Author_Institution

Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

2126

Abstract

We consider a chained form transformation for a class of the 3-states and 2-inputs symmetric affine nonholonomic systems. Firstly, we propose an algorithm for building the coordinate and input transformation to convert such systems into the chained form. It is shown that a chained form for a two-wheel car is easily obtained by using the transformation. Secondly, we show that some planar 3-link nonholonomic mechanical systems are expressed as the 3-states and 2-inputs symmetric affine system which we discuss. Finally, an asteroid sample return robot is considered as an example, and simulation has been carried out

Keywords

aerospace robotics; attitude control; automobiles; matrix algebra; mobile robots; 3-state 2-input nonholonomic systems; asteroid sample return robot; chained form transformation algorithm; planar 3-link nonholonomic mechanical systems; space robot; symmetric affine nonholonomic systems; two-wheel car; Computational intelligence; Control systems; Hydrogen; Intelligent robots; Legged locomotion; Mechanical systems; Orbital robotics; Partial differential equations; Space technology; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.831234

Filename

831234