非ホロノミックチェインドシステムのハイブリッド時間軸状態形による最適制御

抄録

In this paper, we propose a control method for nonholonomic chained systems. We transform the systems into time-invariant linear systems using a hybrid time-state control form and solve an optimal control problem to get an optimal trajectory with a switching point. The optimal input is derived as a feedback controller for the system. We apply the proposed method to a 4-wheeled vehicle and give numerical simulation results to show its effectiveness.