Presentation | 2000/10/13 Optimal Control of Nonholonomic Chained System using Time-State Control Yugo SHIBATA, Keigo KOBAYASHI, Toshimitsu USHIO, |
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Abstract(in Japanese) | (See Japanese page) |
Abstract(in English) | In this paper, we propose a control method for nonholonomic chained systems. We translate the systems into time-invariant linear systems using time-state control form and solve the optimal control problem to get an optimal feedback controller and an optimal switching point. We apply the proposed method to a 4-wheeled mobile robot and give simulation results to show its effectiveness. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | Nonholonomicsystem / chained form / time-state control / optimal control |
Paper # | NLP2000-72 |
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Committee | NLP |
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Conference Date | 2000/10/13(1days) |
Place (in Japanese) | (See Japanese page) |
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Topics (in Japanese) | (See Japanese page) |
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Paper Information | |
Registration To | Nonlinear Problems (NLP) |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Optimal Control of Nonholonomic Chained System using Time-State Control |
Sub Title (in English) | |
Keyword(1) | Nonholonomicsystem |
Keyword(2) | chained form |
Keyword(3) | time-state control |
Keyword(4) | optimal control |
1st Author's Name | Yugo SHIBATA |
1st Author's Affiliation | Graduate School of Engineerring Science, Department of Systems and Human Science() |
2nd Author's Name | Keigo KOBAYASHI |
2nd Author's Affiliation | Graduate School of Engineerring Science, Department of Systems and Human Science |
3rd Author's Name | Toshimitsu USHIO |
3rd Author's Affiliation | Graduate School of Engineerring Science, Department of Systems and Human Science |
Date | 2000/10/13 |
Paper # | NLP2000-72 |
Volume (vol) | vol.100 |
Number (no) | 381 |
Page | pp.pp.- |
#Pages | 6 |
Date of Issue |