• DocumentCode
    1657880
  • Title

    A control strategy for a class of nonholonomic systems - time-state control form and its application

  • Author

    Sampei, Mitsuji

  • Author_Institution
    Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
  • Volume
    2
  • fYear
    1994
  • Firstpage
    1120
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/CDC.1994.411066
  • Filename
    411066
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1657880