Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 7W3-4
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Host: The Institute of Systems, Control and Information Engineers

Adaptive Control for a Class of Driftless System via Time State Control Form
Tadasuke Matsumoto, Shigeki Nakaura, *Mitsuji Sampei
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Keywords: Adaptive Control, Chained Form, Time State Control Form
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Abstract
In this paper, it is considered the influence of the parameter error included in the coordinate transformation which changes a nonholonomic driftless system into a canonical form called ``Chained Form''. And an adaptive control method for a class of nonholonomic driftless systems with an unknown system parameter via Time State Control Form is proposed.
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© 2006 The Institute of Systems, Control and Information Engineers
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