Nonlinear control analysis on nonholonomic dynamic systems with affine constraints

Tatsuya Kai, Hidenori Kimura, Shinji Hara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

This paper deals with nonholonomic control systems subject to affine constraints. We first derive several preliminary properties of nonholonomic dynamic systems with affine constraints (NDSAC). We then investigate local accessibility and local controllability of the NDSAC based on both Sussmann's theorem and linear approximation approaches. Conditions for local asymptotic stabilizability of the NDSAC by linear state feedback and nonlinear smooth state feedback are also derived. Finally, two physical examples are illustrated to confirm the results.

Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages1459-1464
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: 12 Dec 200515 Dec 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Conference

Conference44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0515/12/05

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Kai, T., Kimura, H., & Hara, S. (2005). Nonlinear control analysis on nonholonomic dynamic systems with affine constraints. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 1459-1464). [1582364] (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1582364