Optimal Control of Nonholonomic Chained Systems Using Hybrid Time-State Form
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- KOBAYASHI Keigo
- Graduate School of Engineering Science, Osaka University
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- SHIBATA Yugo
- Graduate School of Engineering Science, Osaka University
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- USHIO Toshimitsu
- Graduate School of Engineering Science, Osaka University
Bibliographic Information
- Other Title
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- 非ホロノミックチェインドシステムのハイブリッド時間軸状態形による最適制御
- ヒホロノミック チェインド システム ノ ハイブリッド ジカンジク ジョウタイケイ ニ ヨル サイテキ セイギョ
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Description
In this paper, we propose a control method for nonholonomic chained systems. We transform the systems into time-invariant linear systems using a hybrid time-state control form and solve an optimal control problem to get an optimal trajectory with a switching point. The optimal input is derived as a feedback controller for the system. We apply the proposed method to a 4-wheeled vehicle and give numerical simulation results to show its effectiveness.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 15 (5), 246-252, 2002
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390282680143495296
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- NII Article ID
- 10008469632
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 6142723
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed
