Control of Nonholonomic Systems with Bad

Controllability Structure

Professor Mitsuji Sampei

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.

1500 EECS