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A control for a class of nonholonomic systems subject to velocity constraints using acceleration inputs

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4 Author(s)
Sampei, M. ; Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan ; Kiyota, H. ; Mizuno, S. ; Koga, M.

We present a control method to stabilize a class of systems subject to velocity constraints using acceleration inputs. The method is an extension of time-state control form and its control strategy which we have already proposed for a class of nonholonomic systems subject to velocity constraints with velocity inputs. We can also apply this new strategy to stabilizing control for a class of nonholonomic systems. Such a class of systems is broader than those which can be transformed into the chained form

Published in:

American Control Conference, 1997. Proceedings of the 1997  (Volume:4 )

Date of Conference:

4-6 Jun 1997

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