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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: nonholonomic system, adaptive control, optimal control

会議録・要旨集フリー

p. 11

詳細

抄録

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.

責任著者(Corresponding author)

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