1996 Fiscal Year Final Research Report Summary
Study for Control System Design of Nonholonomic System
| Project/Area Number |
07650297
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Toyota Technological Institute |
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Principal Investigator |
NARIKIYO Tatsuo Toyta Technological Institute Dep.Information and Control Associate Professor, 工学部, 助教授 (70231496)
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| Project Period (FY) |
1995 – 1996
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| Keywords | Nonholonomic System / Chained System / Caplygin System / Exponential Stabilization / Planor Space Robot |
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| Research Abstract |
Nonholonomic systems cannot be stabilized by smooth static state feedback controllaws. In order to stabilize the origin of the nonholonomic systems many control laws have been proposed. However, these control laws are piecewise analytic or time varying functions. Therefore many of these control laws cannot be applied to real systems because the first derivative of these control laws with respect to time does not exist. In this study to overcome these difficulties, control laws for nonholonomic chained systems and nonholonomic Caplygin systems have been proposed. Proposed control law for chained systems is smooth and static state feedback which exponentially stabilizes the equilibrium point except some initial states. Proposed control law for Caplygin systems is piecewise analytic and time-variant state feedback. The first derivative of these proposed control laws with respect to time can be calculated. Therefore it can be applied to planor space robot. Furthermore we develop the control system which decouples motions of satellite base body with end-effector movement for free-flying space robot. Many numerical simulations demonstrate the usefulness of these proposed contorl systems.
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