擬似連続指数安定化制御器における切換による目標状態量の微分値に基づくゲイン調整法

抄録

The design of the desired speed based on the gain has been proposed in the Quasi-continuous exponential stabilizing controller. In this study, the control system is constructed in consideration of desired state quantities of differential values such as velocity and angular velocity for the design method. Chained form is used as the nonholonomic canonical form. On the other hand, two gain adjustment functions of the target speed and the target angular speed are designed, respectively. We also design a function that considers two target values simultaneously. For these three functions, it is verified by simulation whether each component can follow up.