### 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 language | English |
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Title of host publication | Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers |

Publisher | Society of Instrument and Control Engineers (SICE) |

Pages | 3278-3284 |

Number of pages | 7 |

ISBN (Print) | 9784907764364 |

Publication status | Published - Jan 1 2010 |

### Publication series

Name | Proceedings of the SICE Annual Conference |
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### Keywords

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

### ASJC Scopus subject areas

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

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## Cite this

*Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers*(pp. 3278-3284). [5602619] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).