Proceedings of the Japan Joint Automatic Control Conference
THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : FrB1-7
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Global Revived System Transformation for Disc Shaped State Constraint for Two Wheel Vehicle
*H. Shudai, S. Kimura, H. Nakamura
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Abstract

Revived system transformation relaxes a state-constraint by a diffemorphism. The effectiveness of the transformation has been demonstrated for the various constraints on a two-wheel vehicle control problem. However global revived system transformation for a disc shaped state constraint was not developed. This paper proposes a global system transformation for the disc shaped state constraint. Moreover we show conditions that guarantee invariance kernels by using the revived system transformation. Finally the effectiveness of the proposed method is confirmed by computar simulation.

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© 2016 The Japan Society of Mechanical Engineers
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