二次可制御な非ホロノミック交差チェインドシステムの切替フィードバック制御

抄録

This paper is concerned with the control problem of a class of nonholonomic systems having cross-chained structure. Cross-chained system is a class of nonholonomic driftless systems with two generators and second-order controllability, which are structurally incompatible with well-known chained systems. Feedback control for such a system requires us to find an entirely new control approaches different from the conventional ones designed for single generator driftless systems. In this paper, we propose a switched state feedback state which delivers the initial state to the origin in finite time using bounded control inputs, without infinitely high gain and frequent switchings in spite of the discontinuity of the feedback law. The effectiveness of the proposed method is shown by numerical simulations. Possible mechatronic applications of this class of systems include snake robots, rolling sphere control and the spherical ultrasonic motor.