A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method

Takahiro Yamamoto, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because any conventional control cannot 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 up to now by using a chained form etc. Among them, a switching control method using invariant manifold, which is considered as a generalized form for sliding mode control known as one of conventional switching control methods, and a quasi-continuous exponential stabilizing control method are proposed in a power form system with two inputs and three states or two inputs and n-states. In this study, as a new mehod, a switching control method using an invariant manifold as mentioned above is examined for a "double integrator system," known as an alternative canonical model for nonholonomic systems. In particular, stabilizing controllers are derived for the case of a kinematic model with two inputs and three states and for the case of a dynamic model with two inputs and five states, which is just as an "extended double integrator system." The effectiveness of the proposed controllers is demonstrated through simulations for a mobile robot with two independent driving wheels.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages3278-3284
Number of pages7
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Mobile robots
Controllers
Sliding mode control
Control theory
Dynamic models
Wheels
Kinematics
Feedback

Keywords

  • Double integrator system
  • Invariant manifold
  • Nonholonomic mobile robots
  • Switching control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Yamamoto, T., & Watanabe, K. (2010). A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. In Proceedings of the SICE Annual Conference (pp. 3278-3284). [5602619]

A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. / Yamamoto, Takahiro; Watanabe, Keigo.

Proceedings of the SICE Annual Conference. 2010. p. 3278-3284 5602619.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamamoto, T & Watanabe, K 2010, A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. in Proceedings of the SICE Annual Conference., 5602619, pp. 3278-3284, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
Yamamoto T, Watanabe K. A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. In Proceedings of the SICE Annual Conference. 2010. p. 3278-3284. 5602619
Yamamoto, Takahiro ; Watanabe, Keigo. / A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. Proceedings of the SICE Annual Conference. 2010. pp. 3278-3284
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