Authors

Yûki NISHIMURA

Abstract

Nonholonomic systems such as port-Hamiltonian systems are well known to be difficult to control. To reduce the difficulty, in this paper, we derive quasi-optimal regulators for nonholonomic systems such as a typical chained system with some restriction to the form of control inputs. To achieve the solution, we employ a notion of stability in roughness, which is Lyapunov stability theory for dynamical systems driven by rough paths. The rough paths are capable of transforming some nonholonomic systems into holonomic systems with “hidden control inputs”. Thus, the control problems are simplified in exchange for the degradation of some control performances.

Keywords

Nonlinear control systems; optimal control; stability analysis; stabilizaing controllers; Lyapunov stability

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2015
  • Volume: 48
  • Issue: 13
  • Pages: 51–56
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2015.10.213
  • Note: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2015- Lyon, France, 4–7 July 2015

BibTeX

@article{NISHIMURA_2015,
  title={{Quasi-Optimal Regulators for Nonholonomic Systems Driven by Rough Paths}},
  volume={48},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2015.10.213},
  number={13},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={NISHIMURA, Yûki},
  year={2015},
  pages={51--56}
}

Download the bib file

References

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