MTNS 2006 Paper Abstract

17th International Symposium on
Mathematical Theory of Networks and Systems
Kyoto International Conference Hall, Kyoto, Japan, July 24-28, 2006

MTNS 2006 Paper Abstract

Paper FrP10.3

Ishikawa, Masato (Kyoto Univ.), Ashida, Shouji (Kyoto Univ.), Sugie, Toshiharu (Kyoto Univ.)

Iterative Feedback Control for Nonholonomic Systems with Input Constraints

Scheduled for presentation during the Regular Session "Nonlinear Control III" (FrP10), Friday, July 28, 2006, 16:10−16:35, Room 103

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 19, 2024

Keywords Non-holonomic systems, Control of nonlinear systems, Quantization

Abstract

This paper proposes a new control strategy for a class of nonholonomic systems with input constraints, which does not require any input/state transformation to canonical forms nor precise system models. Based on the principle of holonomy, we adopt periodic control motion to achieve the desired posture of the target system. Simulation results show that the method is robust against the model uncertainty and it is applicable for various input constraints.