Underactuated control for a fire truck-type mobile robot using an invariant manifold theory

Keigo Watanabe, Yuka Ueda, Isaku Nagai

研究成果

3 被引用数 (Scopus)

抄録

Underactuated control for a fire truck-type mobile robot is considered using an invariant manifold theory. A kinematic model with three inputs and six outputs is first transformed into a chained form, and then invariant manifolds are derived by applying the solution form of such a chained form. The present control strategy is based on a two-step approach: i.e., the first step is to make invariant manifolds, and the second step is to stabilize all the states on the manifolds. The effectiveness of the proposed method is demonstrated by a simulation.

本文言語English
ホスト出版物のタイトル6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
ページ210-215
ページ数6
DOI
出版ステータスPublished - 2012
イベント2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe
継続期間: 11月 20 201211月 24 2012

出版物シリーズ

名前6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
国/地域Japan
CityKobe
Period11/20/1211/24/12

ASJC Scopus subject areas

  • 人工知能
  • ソフトウェア

フィンガープリント

「Underactuated control for a fire truck-type mobile robot using an invariant manifold theory」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル