| Presentation | 2000/10/13 Optimal Control of Nonholonomic Chained System using Time-State Control Yugo SHIBATA, Keigo KOBAYASHI, Toshimitsu USHIO, |
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| PDF Download Page | PDF download Page Link |
| 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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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2000/10/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| 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 | |