Control of a Class of 3-State and 2-Input Nonholonomic Systems and Attitude Control of an Asteroid Sample-Return Robot

Abstract

We discuss the controller design strategy for a class of 3-state and 2-input nonholonomic affine systems. We propose an algorithm of the chained form transformation for 3-state and 2-input symmetric affine systems, and design a controller. We also consider 3-state and 2-input affine nonholonomic systems with a drift term. By applying the algorithm of the chained form transformation to an affine system with a drift term, we obtain the chained form with a drift term which is named expanded chained form. We design a controller based on this expanded chained form. Nextly we propose the coordinate and input transformation to convert a class of 3-state and 2-input affine nonholonomic systems with a drift term into the time-state control form. Finally, an asteroid sample-return robot is considered as an example. To demonstrate the validity of the proposed controllers, simulation and experiment have been carried out.