Abstract
Time-State Control Form was proposed as one of the control method for nonholonomic systems. But this method needs input switching, so discrete dynamics to ensure stability of the systems should be considered. From the above backgrounds, this paper considers stability conditions of the control method based on Time-State Control Form from the viewpoint of hybrid systems. In this paper, the control objects are limited to chained system, which is one of the canonical forms of nonholonomic systems. Then the stability conditions which are independent of switching conditions are shown by introducing the Lyapunov functions which are invariant to input switching.
