128 ノンホロノミックシステムに対するハイブリッド制御の安定性解析(非線形制御理論応用II)(OS 非線形制御理論応用)

As one of the control technique for nonholonomic systems, the method to design controllers using Time-State Control Form was proposed. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the whole 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. Then, we derive the switching conditions which stabilize the systems by using Lyapunov functions for each mode. Furthermore, the control objects are limited to chained systems, and the conditions to stabilize the systems are shown by introducing the Lyapunov functions which are invariant to input switching. Then, we propose a method to design controllers based on the conditions.