非ホロノミック2次チェインドシステムの大域的指数安定化制御（オブザーバと安定化補償器の設計）

摘要

非ホロノミックな力学的拘束（速度または加速度拘束など）を受けるシステムは非ホロノミック系と呼ばれている?速度拘束を受ける非ホロノミック系として，例えば車輪型移動ロボットなどが挙げられる．この系は一般にドリフト項のない対称アフィン系として表現され，多くはChained form と呼ばれる標準形式に変換できる．%This paper considers the problem of controlling a class of nonholonomic systems in second-order chained form, which is described by a set of nonlinear differential equations. Our novel approach is based on coordinate transformations and sampled data control. First, the nonholonomic system is discretized by a zero order hold and a sampler. A time-varying discrete-time coordinate transformation is utilized to reduce the stabilization problem to a standard pole assignment problem for a linear time-invariant discrete-time system. Both a new state feedback controller and a new dynamic output feedback controller based on state-observer are presented for obtaining global exponential stabilization of the system. Moreover, the proposed design methods are simple and straightforward. Some simulations are performed to validate the effectiveness of the proposed controllers.