Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds

Keigo Watanabe, Kiyotaka Izumi, Kensaku Okamura

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

4 Citations (Scopus)

Abstract

In this paper, an invariant manifold approach is applied for controlling chained form systems with four inputs and six states. This type of systems includes VTOL (vertical take off and landing) aerial robots such as X4-flyer, AUVs (autonomous underwater vehicles) such as a longitudinal or lateral X4 -AUV, etc. The present underactuated control method is composed of a two step method: the first step is an attractive control to achieve an invariant manifold vector and the second step is a state feedback control to assure the asymptotic behavior of states constrained on each invariant manifold. Some simulations with changes in design parameters are given to demonstrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages846-851
Number of pages6
DOIs
Publication statusPublished - Sep 21 2009
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: Mar 26 2009Mar 29 2009

Publication series

NameProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period3/26/093/29/09

    Fingerprint

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Watanabe, K., Izumi, K., & Okamura, K. (2009). Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 846-851). [4919390] (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919390