Adaptive Control of Nonholonomic Systems Based on Inverse Optimality

Yoshihiko Miyasato

doi:10.11499/sicep.2004.0_11_2

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_11_2

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Adaptive Control of Nonholonomic Systems Based on Inverse Optimality

*Yoshihiko Miyasato

Author information

Keywords: nonholonomic system, adaptive control, optimal control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 11

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Abstract

Design methods of adaptive control of uncertain nonholonomic systems are presented based on the notion of inverse optimality. The proposed methodologies are applied to chained systems of high orders, and the controller designs by both state and output feedbacks are shown. It is seen that the resulting control strategies are optimal to certain meaningful cost functionals.

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