Title :
Necessary and sufficient conditions for transformation of nonholonomic system into time-state control form
Author :
Sampei, Mitsuji ; Kiyota, Hiromitsu ; Koga, Masanobu ; Suzuki, Masahiro
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
Necessary and sufficient conditions for transformation of nonholonomic system into the time-state control form are given. Free flying space robot system is an example of the systems subject to nonholonomic constraints. Those systems modeled in state equation can not be stabilized with continuous static state feedback, thus we can not design stabilizing controllers for such systems using conventional methods. We have proposed time-state control form and its control strategy to control such nonholonomic systems, and the theorem given in this paper will show the effectiveness of our strategy
Keywords :
control system synthesis; stability; state-space methods; free flying space robot system; necessary and sufficient conditions; nonholonomic system transformation; stabilizing controllers; state equation; time-state control form; Computational geometry; Control system synthesis; Control systems; Informatics; Nonlinear control systems; Orbital robotics; Robot kinematics; Space technology; State feedback; Sufficient conditions;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577644
