TY - GEN
T1 - Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Okamura, Kensaku
PY - 2009/9/21
Y1 - 2009/9/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70349125003&partnerID=8YFLogxK
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U2 - 10.1109/ICNSC.2009.4919390
DO - 10.1109/ICNSC.2009.4919390
M3 - Conference contribution
AN - SCOPUS:70349125003
SN - 9781424434923
T3 - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
SP - 846
EP - 851
BT - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
T2 - 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Y2 - 26 March 2009 through 29 March 2009
ER -