イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2017/06
形態種別	学術雑誌
査読	査読あり
標題	状態制約を有する非線形システムに対する状態方程式を保持する変換 -システム蘇生変換-
執筆形態	共著(筆頭者以外)
掲載誌名	計測自動制御学会論文集
掲載区分	国内
出版社・発行元	計測自動制御学会
巻・号・頁	53(6),337-345頁
総ページ数	9
著者・共著者	木村駿介，中村文一，伊吹竜也，三平満司
概要	Coordinates transformation is a fundamental tool for nonlinear system control. Particularly, the transformation is also applied to state constrained problems. This paper investigates a coordinates and input transformation method, and proposes a new transformation method named "system revival transformation". The system revival transformation generates a virtual system having the same state equation as an original system. By the proposed transformation, a controller for state constrained systems can be designed by using a controller for unconstrained systems. For general nonlinear systems, the paper provides a mathematical definition of the system revival transformation and proves global asymptotic stability. Moreover, a system revival transformation design method is also presented for control affine nonlinear systems. The effectiveness of the system revival transformation is confirmed through a stabilization problem of a two-wheeled mobile robot.