Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Feedback Connection of Complementarity Systems
Well-posednes Analysis and its Application to SwitchedControl of a Nonholonomic System
Yasushi IWATANIMasato ISHIKAWAShinji HARA
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2002 Volume 15 Issue 5 Pages 238-245

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Abstract

This paper is concerned with well-posedness (existence and uniqueness of solutions) problem of hybrid feedback systems and its application. We first consider feedback interconnections of complementarity systems and derive a sufficient condition for the closed loop systems to be well-posed. We then apply the result to design of a switching controller which belongs to complementarity systems for a driftless nonholonomic system, where the well-posedness of the feedback system is guaranteed and the norm of steady-state error is less than each given value.

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