時間軸状態制御形によるハイブリッド制御の安定化保証

星 義克; 三平 満司; 中浦 茂樹; Yoshikatsu HOSHI

doi:10.11499/siced.cs2.0.94.0

時間軸状態制御形によるハイブリッド制御の安定化保証

Translated title of the contribution: Guarantee of stabilization with hybrid control based on time-state control form

星義克, 三平満司, 中浦茂樹, Yoshikatsu HOSHI

Department of Computer Science

Research output: Contribution to journal › Misc

Abstract

Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. The control objects are limited to chained systems, and the conditions to stabilize the systems asymptotically are shown by introducing the Lyapunov functions which are invariant to input switching.

Translated title of the contribution	Guarantee of stabilization with hybrid control based on time-state control form
Original language	Japanese
Pages (from-to)	94 - 94
Journal	SICE Division Conference Program and Abstracts
Volume	cs2
DOIs	https://doi.org/10.11499/siced.cs2.0.94.0
State	Published - 2002

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abstract = "Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. The control objects are limited to chained systems, and the conditions to stabilize the systems asymptotically are shown by introducing the Lyapunov functions which are invariant to input switching.",

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AU - 星義克, null

AU - 三平満司, null

AU - 中浦茂樹, null

AU - HOSHI, Yoshikatsu

PY - 2002

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N2 - Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. The control objects are limited to chained systems, and the conditions to stabilize the systems asymptotically are shown by introducing the Lyapunov functions which are invariant to input switching.

AB - Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. The control objects are limited to chained systems, and the conditions to stabilize the systems asymptotically are shown by introducing the Lyapunov functions which are invariant to input switching.

U2 - 10.11499/siced.cs2.0.94.0

DO - 10.11499/siced.cs2.0.94.0

M3 - Misc

VL - cs2

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EP - 94

JO - SICE Division Conference Program and Abstracts

JF - SICE Division Conference Program and Abstracts

ER -

時間軸状態制御形によるハイブリッド制御の安定化保証

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