Exponential stabilization of second-order nonholonomic chained systems

Zainah Md Zain; Keigo Watanabe; Kiyotaka Izumi; Isaku Nagai

doi:10.1007/978-3-642-40849-6_9

Exponential stabilization of second-order nonholonomic chained systems

Zainah Md Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
Publisher	Springer Verlag
Pages	96-107
Number of pages	12
Edition	PART 2
ISBN (Print)	9783642408489
DOIs	https://doi.org/10.1007/978-3-642-40849-6_9
Publication status	Published - 2013
Event	6th International Conference on Intelligent Robotics and Applications, ICIRA 2013 - Busan, Korea, Republic of Duration: Sept 25 2013 → Sept 28 2013

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	8103 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	6th International Conference on Intelligent Robotics and Applications, ICIRA 2013
Country/Territory	Korea, Republic of
City	Busan
Period	9/25/13 → 9/28/13

Keywords

Nonholonomic system
discontinuous control
second-order chained form
underactuated control system

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-642-40849-6_9

Cite this

Zain, Z. M., Watanabe, K., Izumi, K., & Nagai, I. (2013). Exponential stabilization of second-order nonholonomic chained systems. In Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings (PART 2 ed., pp. 96-107). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8103 LNAI, No. PART 2). Springer Verlag. https://doi.org/10.1007/978-3-642-40849-6_9

Exponential stabilization of second-order nonholonomic chained systems. / Zain, Zainah Md; Watanabe, Keigo; Izumi, Kiyotaka et al.
Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 2. ed. Springer Verlag, 2013. p. 96-107 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8103 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zain, ZM, Watanabe, K, Izumi, K & Nagai, I 2013, Exponential stabilization of second-order nonholonomic chained systems. in Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 8103 LNAI, Springer Verlag, pp. 96-107, 6th International Conference on Intelligent Robotics and Applications, ICIRA 2013, Busan, Korea, Republic of, 9/25/13. https://doi.org/10.1007/978-3-642-40849-6_9

Zain ZM, Watanabe K, Izumi K, Nagai I. Exponential stabilization of second-order nonholonomic chained systems. In Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 2 ed. Springer Verlag. 2013. p. 96-107. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-642-40849-6_9

Zain, Zainah Md ; Watanabe, Keigo ; Izumi, Kiyotaka et al. / Exponential stabilization of second-order nonholonomic chained systems. Intelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings. PART 2. ed. Springer Verlag, 2013. pp. 96-107 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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AB - In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach.

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Exponential stabilization of second-order nonholonomic chained systems

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