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 proceedingConference 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 languageEnglish
Title of host publication2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages145-148
Number of pages4
ISBN (Electronic)9781479959556
DOIs
Publication statusPublished - Feb 18 2014
Event2014 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 2014Dec 6 2014

Publication series

Name2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
CountryJapan
CityKitakyushu
Period12/3/1412/6/14

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

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    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