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

Volume

4

fYear

1996

fDate

11-13 Dec 1996

Firstpage

4745

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.577644

Filename

577644