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

8 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 SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages3278-3284
Number of pages7
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010

Publication series

NameProceedings of the SICE Annual Conference

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

    Yamamoto, T., & Watanabe, K. (2010). A switching control method for stabilizing a nonholonomic mobile robot using invariant manifold method. In 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).