Title :
A control for a class of nonholonomic systems subject to velocity constraints using acceleration inputs
Author :
Sampei, Mitsuji ; Kiyota, Hiromitsu ; Mizuno, Shintarou ; Koga, Masanobu
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
We present a control method to stabilize a class of systems subject to velocity constraints using acceleration inputs. The method is an extension of time-state control form and its control strategy which we have already proposed for a class of nonholonomic systems subject to velocity constraints with velocity inputs. We can also apply this new strategy to stabilizing control for a class of nonholonomic systems. Such a class of systems is broader than those which can be transformed into the chained form
Keywords :
mobile robots; nonlinear control systems; space vehicles; stability; acceleration inputs; chained form; nonholonomic systems; time-state control; velocity constraints; Acceleration; Control systems; Equations; Indium phosphide; Informatics; Nonlinear systems; Orbital robotics; Robot kinematics; Time varying systems; Velocity control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609032
