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Revived Transformation for nonlinear systems subject to state constraints | IEEE Conference Publication | IEEE Xplore

Revived Transformation for nonlinear systems subject to state constraints


Abstract:

This paper presents an input transformation with a coordinate transformation for a nonlinear system. The coordinate transformation transforms an unconstrained domain into...Show More

Abstract:

This paper presents an input transformation with a coordinate transformation for a nonlinear system. The coordinate transformation transforms an unconstrained domain into an arbitrary constrained domain, but the differential equations of the system do not change by using the input transformation. We call the pair of these transformations “Revived Transformation”. We use the revived transformation to constrain the domain of state space. We show an application example of the present theory through position and attitude control of two-wheeled mobile robot systems subject to state constraints. The effectiveness of the proposed method is confirmed by computer simulation.
Date of Conference: 15-18 December 2015
Date Added to IEEE Xplore: 11 February 2016
ISBN Information:
Conference Location: Osaka, Japan

References

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