Hybrid Control of a Nonholonomic Vehicle System Using a Global Coordinate Transformation
Keigo KOBAYASHI, Toshimitsu USHIO
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.