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 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.
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Keyword(in English) Nonholonomicsystem / chained form / time-state control / optimal control
Paper # NLP2000-72
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Conference Information
Committee NLP
Conference Date 2000/10/13(1days)
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Paper Information
Registration To Nonlinear Problems (NLP)
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