あるクラスの3状態2入力の非ホロノミックシステムの制御系設計と小惑星サンプルリターンロボットの姿勢制御

抄録

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.