相補性システム表現を持つフィードバック制御系

well-posedness解析と非ホロノミック系の切替制御

抄録

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.