An error model of chained form with two inputs for a generalized stabilization problem

Keigo Watanabe; Tsuyoshi Goto; Kimiko Motonaka; Shoichi Maeyama; Isaku Nagai

doi:10.1109/SCIS-ISIS.2014.7044845

An error model of chained form with two inputs for a generalized stabilization problem

Keigo Watanabe, Tsuyoshi Goto, Kimiko Motonaka, Shoichi Maeyama, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes a generalized stabilization problem of nonholonomic systems to a non-zero desired point. To this end, an error model of chained form with two inputs is derived for shifting the origin to an arbitrary point. After describing the case of three and four states, their results are extended to the generalized case of n states. The effectiveness of the present method is demonstrated by showing simulations for a stabilization problem to a non-zero desired point in a nonholonomic two-wheeled mobile robot and a car-like mobile robot.

Original language	English
Title of host publication	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	145-148
Number of pages	4
ISBN (Electronic)	9781479959556
DOIs	https://doi.org/10.1109/SCIS-ISIS.2014.7044845
Publication status	Published - Feb 18 2014
Event	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan Duration: Dec 3 2014 → Dec 6 2014

Publication series

Name	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Country	Japan
City	Kitakyushu
Period	12/3/14 → 12/6/14

ASJC Scopus subject areas

Software
Artificial Intelligence

Access to Document

10.1109/SCIS-ISIS.2014.7044845

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Cite this

Watanabe, K., Goto, T., Motonaka, K., Maeyama, S., & Nagai, I. (2014). An error model of chained form with two inputs for a generalized stabilization problem. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 145-148). [7044845] (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044845

An error model of chained form with two inputs for a generalized stabilization problem. / Watanabe, Keigo; Goto, Tsuyoshi; Motonaka, Kimiko; Maeyama, Shoichi; Nagai, Isaku.

2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 145-148 7044845 (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Goto, T, Motonaka, K, Maeyama, S & Nagai, I 2014, An error model of chained form with two inputs for a generalized stabilization problem. in 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014., 7044845, 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014, Institute of Electrical and Electronics Engineers Inc., pp. 145-148, 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014, Kitakyushu, Japan, 12/3/14. https://doi.org/10.1109/SCIS-ISIS.2014.7044845

Watanabe K, Goto T, Motonaka K, Maeyama S, Nagai I. An error model of chained form with two inputs for a generalized stabilization problem. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 145-148. 7044845. (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). https://doi.org/10.1109/SCIS-ISIS.2014.7044845

Watanabe, Keigo ; Goto, Tsuyoshi ; Motonaka, Kimiko ; Maeyama, Shoichi ; Nagai, Isaku. / An error model of chained form with two inputs for a generalized stabilization problem. 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 145-148 (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014).

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