Stabilization of a fire truck robot by an invariant manifold theory

Keigo Watanabe; Yuka Ueda; Isaku Nagai; Shoichi Maeyama

doi:10.1016/j.proeng.2012.07.288

Stabilization of a fire truck robot by an invariant manifold theory

Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama

School of Engineering

Research output: Contribution to journal › Conference article › peer-review

4 Citations (Scopus)

Abstract

There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.

Original language	English
Pages (from-to)	1095-1104
Number of pages	10
Journal	Procedia Engineering
Volume	41
DOIs	https://doi.org/10.1016/j.proeng.2012.07.288
Publication status	Published - Jan 1 2012
Event	2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia Duration: Sept 4 2012 → Sept 6 2012

Keywords

Chained form
Fire truck robot
Invariant manifold
Nonholonomic systems
Underactuated control

ASJC Scopus subject areas

Engineering(all)

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10.1016/j.proeng.2012.07.288

Cite this

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title = "Stabilization of a fire truck robot by an invariant manifold theory",

abstract = "There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.",

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AU - Watanabe, Keigo

AU - Ueda, Yuka

AU - Nagai, Isaku

AU - Maeyama, Shoichi

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N2 - There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.

AB - There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.

KW - Chained form

KW - Fire truck robot

KW - Invariant manifold

KW - Nonholonomic systems

KW - Underactuated control

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Stabilization of a fire truck robot by an invariant manifold theory

Abstract

Keywords

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