DocumentCode
312689
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
Volume
4
fYear
1997
fDate
4-6 Jun 1997
Firstpage
2301
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.609032
Filename
609032
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