We consider a class of the 3-state and 2-input affine nonholonomic systems with a drift term. First, we propose an expanded chained form which is expressed as the simulation of the drift term and the chained form, and the controller design method based on it. Next, we propose the coordinate and input transformation algorithm which converts an affine system with a drift term into the time-state control form, and propose the controller design method using the exact linearization. Finally, an asteroid sample-return robot with non-zero initial angular momentum is considered as an example. By using the transformation algorithm, we obtain the time-state control form for the robot. The attitude controller of the robot is designed on the basis of the time-state control form, and simulation has been carried out.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control of a nonholonomic system with a drift term


    Contributors:
    Matsuno, F. (author) / Saito, K. (author)


    Publication date :

    2000


    Size :

    6 Seiten, 8 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Developments in Nonholonomic Control Problems

    Kolmanovsky, I. / McClamroch, N. H. | British Library Online Contents | 1995



    NONHOLONOMIC CONTROL OF A MULTI-LINK-MODELED TETHER SYSTEM

    Naka, T. / Ogawara, K. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2004


    Formation control of multiple nonholonomic mobile robots

    Ikeda, Takashi | Online Contents | 2006


    Nonholonomic Control of a Multi-link-modeled Tether System

    Naka, Takuya / Ogawara, Kakuji | AIAA | 2004