Controllers based on an invariant manifold approach for stabilizing a nonholonomic mobile robot

Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because no conventional control can 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 by using a chained form up to now. In this paper, a four-wheeled mobile robot which is an underactuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. The effectiveness of the proposed method is demonstrated through simulations for a four-wheeled 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.
Pages134-139
Number of pages6
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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    Aye, Y. Y., Watanabe, K., Maeyama, S., & Nagai, I. (2014). Controllers based on an invariant manifold approach for stabilizing a nonholonomic mobile robot. 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. 134-139). [7044760] (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.2014.7044760