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

Keigo Watanabe; Kiyotaka Izumi; Kensaku Okamura

doi:10.1109/ICNSC.2009.4919390

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages	846-851
Number of pages	6
DOIs	https://doi.org/10.1109/ICNSC.2009.4919390
Publication status	Published - Sep 21 2009
Externally published	Yes
Event	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan Duration: Mar 26 2009 → Mar 29 2009

Publication series

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

Other

Other	2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Country	Japan
City	Okayama
Period	3/26/09 → 3/29/09

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

Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds. / Watanabe, Keigo; Izumi, Kiyotaka; Okamura, Kensaku.

Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 846-851 4919390 (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4919390, Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, pp. 846-851, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, Japan, 3/26/09. https://doi.org/10.1109/ICNSC.2009.4919390

Watanabe K, Izumi K, Okamura K. 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. 2009. p. 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

Watanabe, Keigo ; Izumi, Kiyotaka ; Okamura, Kensaku. / Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds. Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. pp. 846-851 (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009).

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Access to Document

10.1109/ICNSC.2009.4919390