A study on hybrid control of nonholonomic systems

Isatada Matsune, Guisheng Zhai, Tomoaki Kobayashi, Joe Imae

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)


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 languageEnglish
Number of pages4
Publication statusPublished - 2005
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10


ConferenceSICE Annual Conference 2005


  • 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


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