: In the industrial field of motion control, many systems are nonholonomic, and thefore are difficult to control by static state feedback. As a controller design method for nonholonomic systems, a time-state control form that is applicable to a broad class of nonholonomic systems has been proposed. This paper describes three applications of controllers designed to utilize the time-state control form for the motion control of the following ground vehicles: a large-scale transfer crane, a rotary snow remover, and the mobile field of the Sapporo Dome stadium. In the first two examples, we develop a control function in a time-state control form into an integral type, and a combination of a filter and the Smith compensator. In the third example, we confirm the validity of the motion control by computer simulations and actual experiments.
The Dynamic Positioning System(DPS) of a ship is evaluated by the capability to keep the position against the external disturbances as an important performacne index. Captains or DPS operaters usually decide the suitable heading direction while watching the thrust vectors producing to keep the position. In this paper, we present a DPS with an auto-turning function which automate such operations needed for experiences. The design strategy of the controller is derived by the stability in the sense of Lyapunov and L2-gain performance analysis.
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