TY - GEN
T1 - Towards exponential stabilization of nonholonomic systems via a hybrid control method
AU - Matsune, Isatada
AU - Guisheng, Zhai
AU - Kobayashi, Tomoaki
AU - Imae, Joe
PY - 2006
Y1 - 2006
N2 - 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 and modify the hybrid control method in [1] for the NHI system, so that the entire system is exponentially stable. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and give some analysis together with an example for the case where there are constraints on control inputs. We also extend the discussion to the case of four-wheeled vehicles.
AB - 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 and modify the hybrid control method in [1] for the NHI system, so that the entire system is exponentially stable. We provide a simulation example to demonstrate the effectiveness of the transformation and the control, and give some analysis together with an example for the case where there are constraints on control inputs. We also extend the discussion to the case of four-wheeled vehicles.
KW - Chained form
KW - Exponential stability/stabilization
KW - Hybrid control
KW - Nonholonomic integrator (NHI)
KW - Nonholonomic system
KW - Switching strategy
KW - Two(four)-wheeled vehicle
UR - http://www.scopus.com/inward/record.url?scp=34047207320&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34047207320&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2006.1712779
DO - 10.1109/WCICA.2006.1712779
M3 - Conference contribution
AN - SCOPUS:34047207320
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2344
EP - 2348
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -