On transformation of nonholonomic systems to time-state control form

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

On transformation of nonholonomic systems to time-state control form

Popis výsledku v původním jazyce

Time-state control form (TSCF) provides and alternative way to stabilization of symmetrical affine systems. These systems usually arise as nonholonomic driftless systems. It is, however, not precisely determined which systems can be transformed into this form. Conversion of a general driftless system to the TSCF is a subject of this paper. For control purposes, it is desired that the state variable part of TSCF has a controllable approximate linearization. We give a procedure for conversion once a special vector field called the time axis vector field is known. Since this vector field is hard to find, we turn for help to the machinery of exterior differential systems. It turns out that any flat system can be transformed to TSCF with controllable li nearization of state variable part. We show an example of a system of dimension 5. As a side product, we obtain a result on linearization by time scaling.

Název v anglickém jazyce

On transformation of nonholonomic systems to time-state control form

Popis výsledku anglicky

Time-state control form (TSCF) provides and alternative way to stabilization of symmetrical affine systems. These systems usually arise as nonholonomic driftless systems. It is, however, not precisely determined which systems can be transformed into this form. Conversion of a general driftless system to the TSCF is a subject of this paper. For control purposes, it is desired that the state variable part of TSCF has a controllable approximate linearization. We give a procedure for conversion once a special vector field called the time axis vector field is known. Since this vector field is hard to find, we turn for help to the machinery of exterior differential systems. It turns out that any flat system can be transformed to TSCF with controllable li nearization of state variable part. We show an example of a system of dimension 5. As a side product, we obtain a result on linearization by time scaling.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2003

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

The 11th Mediterranean Conference on Control and Automation

ISBN

960-87706-0-2

ISSN

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e-ISSN

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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

Mediterranean Control Association

Místo vydání

Rhodes, Greece

Místo konání akce

Rhodos

Datum konání akce

18. 6. 2003

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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