Control of Nonholonomic Systems with Bad
Department of Mechanical
and Control Engineering
Tokyo Institute of Technology, Japan
There are many nonhononomic systems whose controllability
structure is much worse than chained form. Since these systems are quite hard to design feedback (type)
controller, path planning was their main research topics. In this note, we will consider
two of these systems, orientation control of a ball sandwiched and manipulated
by two parallel plates, and propulsive control of a snake like robot. We will analyze their
controllability and design feedback type controllers.
Friday, April 12, 2002
3:30 - 5:00 p.m.