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 (Print) | 9781479959556 |
| DOIs | |
| 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 |
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 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
Cite this
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.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An error model of chained form with two inputs for a generalized stabilization problem
AU - Watanabe, Keigo
AU - Goto, Tsuyoshi
AU - Motonaka, Kimiko
AU - Maeyama, Shoichi
AU - Nagai, Isaku
PY - 2014/2/18
Y1 - 2014/2/18
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84946530847&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946530847&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2014.7044845
DO - 10.1109/SCIS-ISIS.2014.7044845
M3 - Conference contribution
AN - SCOPUS:84946530847
SN - 9781479959556
SP - 145
EP - 148
BT - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -