NDLI: Nonlinear control for first-order nonholonomic system with hardware restriction and disturbance

Content Provider	IEEE Xplore Digital Library
Author	Washizu, S. Murai, C. Takami, I. Chen, G.
Copyright Year	2015
Description	Author affiliation: Fac. of Sci. & Eng., Nanzan Univ., Nagoya, Japan (Takami, I.; Chen, G.) \|\| Grad. Sch. of Sci. & Eng., Nanzan Univ., Nagoya, Japan (Washizu, S.; Murai, C.)
Abstract	In this paper, the tracking controller for a firstorder nonholonomic system affected by friction is synthesized. A linear approximated system of this system does not ensure the controllability. The system cannot be stabilized by using linear time-invariant state feedback. Control Moment Gyroscope (CMG) is a first-order nonholonomic system. Furthermore CMG has hardware restriction of a motion range. In this research, the state equation of CMG is converted into a chained system which is a canonical form of nonholonomic systems. The tracking controller is synthesized based on a backstepping approach. The integrator is applied in the controller to eliminate a steady-state error caused by coulomb friction. The stability of the system with the integrator is guaranteed theoretically by a Lyapunov function. The effectiveness of the proposed method is illustrated by simulations.
Starting Page	1
Ending Page	6
File Size	302931
Page Count	6
File Format	PDF
ISBN	9781479978625
DOI	10.1109/ASCC.2015.7244845
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-31
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	tracking control Torque Backstepping Friction nonholonomic system Controllability Hardware Mathematical model friction compensation Lyapunov methods control moment gyroscope
Content Type	Text
Resource Type	Article

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