大域的な座標変換による非ホロノミック車両システムのハイブリッド制御
小林 啓吾, 潮 俊光
pp. 1-9
DOI:
10.5687/iscie.17.1抄録
In this paper, we deal with a control problem of 4-wheeled mobile vehicle that is a typical example of nonholonomic systems. We introduce a coordinates transformation that is valid for almost all state to have a chained form like system. To control the derived system, we transform it again to a hybrid time-state form, which has a non-decreasing variable as a time axis and the order part is a switched linear controllable system with a binary discrete variable. We propose a simple control scheme described by hybrid automata to control the system to the origin and extend the control scheme to restrict the behavior of a state variable by a supervisory controller.