CLASSIFICATION AND CONTROL FOR DRIFTLESS SYSTEM IN VIEW OF PARAMETER ERROR IN COORDINATE TRANSFORMATION

This paper deals with an influence of parameter error to be included in a coordinate transformation which transforms a nonholonomic driftless system into a canonical form called “Chained Form”. The considered driftless systems are classified according to this influence, and investigated the possibility whether the system is able to regulate by already proposed control method. Finally adaptive control method within the framework of Time State Control Form for one of the classified system with an unknown system parameter which is difficult to regulate is proposed.