TY - GEN
T1 - Controllers based on an invariant manifold approach for stabilizing a nonholonomic mobile robot
AU - Aye, Yin Yin
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
AU - Nagai, Isaku
PY - 2014/2/18
Y1 - 2014/2/18
N2 - A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because no conventional control can be applied directly to such a system. Since it cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a chained form up to now. In this paper, a four-wheeled mobile robot which is an underactuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. The effectiveness of the proposed method is demonstrated through simulations for a four-wheeled mobile robot.
AB - A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because no conventional control can be applied directly to such a system. Since it cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a chained form up to now. In this paper, a four-wheeled mobile robot which is an underactuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. The effectiveness of the proposed method is demonstrated through simulations for a four-wheeled mobile robot.
UR - http://www.scopus.com/inward/record.url?scp=84946530759&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946530759&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2014.7044760
DO - 10.1109/SCIS-ISIS.2014.7044760
M3 - Conference contribution
AN - SCOPUS:84946530759
T3 - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
SP - 134
EP - 139
BT - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Y2 - 3 December 2014 through 6 December 2014
ER -