Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 48th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 2002
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Improvement of Astolfi's discontinuous controller by considering time scale transformation
*Yuji Kitamura, Shigeki Nakaura, Mitsuji Sampei
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Keywords: discontinuous controller, time-state control form, input constraints, nonholonomic system
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Abstract

This paper proposes the method over practical problem of Astolfi's controller which is one of discontinuous control law for nonholonomic system. By reinterpreting the Astolfi's controller as time-state control form proposed by Sampei, a problem of input constraints is solved.

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© 2004 The Institute of Systems, Control and Information Engineers
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