Necessary and sufficient conditions for transformation of nonholonomic system into time-state control form
Necessary and sufficient conditions for transformation of nonholonomic system into time-state control form
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非完整系统转化为时间状态控制形式的充要条件
DOI：
10.1109/cdc.1996.577644
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
M. Suzuki
中科院分区：
文献类型：
--
作者：
M. Sampei;H. Kiyota;H. Koga;M. Suzuki
给出了非完整系统转化为时间状态控制形式的充分必要条件。自由飞行的空间机器人系统是受非完整约束的系统的一个例子。用状态方程建模的系统不能用连续的静态反馈来稳定，因此不能用常规的方法来设计稳定控制器。我们提出了控制这类非完整系统的时间状态控制形式及其控制策略，本文给出的定理将证明我们策略的有效性。
Necessary and sufficient conditions for transformation of nonholonomic system into the time-state control form are given. Free flying space robot system is an example of the systems subject to nonholonomic constraints. Those systems modeled in state equation can not be stabilized with continuous static state feedback, thus we can not design stabilizing controllers for such systems using conventional methods. We have proposed time-state control form and its control strategy to control such nonholonomic systems, and the theorem given in this paper will show the effectiveness of our strategy.