Abstract
Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so there is a demerit that the switching conditions may spoil the stability of the system. From the above backgrounds, this research considers the property of the control method based on Time-State Control Form from the viewpoint of hybrid systems. The control objects are limited to chained systems, and the conditions to stabilize the systems asymptotically are shown by introducing the Lyapunov functions which are invariant to input switching.
