Control of Nonholonomic Systems with Bad Controllability Structure

  • Mitsuji Sampei
  • Hisashi Date
  • Shigeki Nakaura
Part of the Trends in Mathematics book series (TM)


There are many nonholonomic systems whose controllability structures are much worse than the chained form. Since it is quite hard to design feedback (type) controllers for those systems, many researchers worked on path planning rather than feedback stabilization. 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.


Nonholonomic system Time-state control form Ball-plate manipulation Manipulability Snake-like locomotion 


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Copyright information

© Springer Science+Business Media New York 2003

Authors and Affiliations

  • Mitsuji Sampei
    • 1
  • Hisashi Date
    • 1
  • Shigeki Nakaura
    • 1
  1. 1.Department of Mechanical and Control Engineering Graduate School of Science and EngineeringTokyo Institute of TechnologyMeguro-ku, TokyoJapan

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