Abstract
In this paper, we consider a hybrid control strategy for stabilization of nonholonomic systems. In particular, we deal with a typical nonholonomic system, namely a two-wheeled vehicle. We first rewrite the system in a chained form, and then transform it into a nonholonomic integrator (NHI) system. Finally, we apply the hybrid control method in [1] for the NHI system. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and also extend the discussion to the case of four-wheeled vehicles.
| Original language | English |
|---|---|
| Pages | 211-214 |
| Number of pages | 4 |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | SICE Annual Conference 2005 - Okayama, Japan Duration: 2005 Aug 8 → 2005 Aug 10 |
Conference
| Conference | SICE Annual Conference 2005 |
|---|---|
| Country/Territory | Japan |
| City | Okayama |
| Period | 05/8/8 → 05/8/10 |
Keywords
- Chained form
- Hybrid control
- Non-holonomic integrator (nhi)
- Nonholonomic system
- Stabilization
- Switching strategy
- Two(four)-wheeled vehicle
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering