Nonlinear Control Analysis on Kinematically Asymmetrically Affine Control Systems with Nonholonomic Affine Constraints
| Authors: | Kai Tatsuya, The University of Tokyo, Japan
Kimura Hidenori, RIKEN, Japan
Hara Shinji, The University of Tokyo, Japan |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Structural Properties of Nonlinear Systems |
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| Keywords: | Nonlinear control systems, Kinematics, Geometric approach, Controllability, Stabilizability |
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Abstract
This paper is concerned with kinematically asymmetrically affine control systems with nonholonomic affine constraints (KAACS). We first show the nonintegrability condition for affine constraints using their geometric representation. Next, the KAACS is uniquely derived from affine constraints and control inputs. We then analyze the KAACS based on nonlinear control theory and provide some conditions of accessibility, controllability and stabilizability of the system. Finally, two physical examples are illustrated to verify our results.
