Quasi-continuous exponential stabilization for the underactuated control of a fire truck robot by using an invariant manifold theory

Syota Yoshimura, Keigo Watanabe, Shoichi Maeyama

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

5 Citations (Scopus)

Abstract

In the research of underactuated control, there are limited results that are for the controlled object with three and more inputs and are based on an invariant manifold theory. For example, there is a switching control method based on an invariant manifold. However, such a control method generates sudden changes of inputs when switching the controllers. In this paper, a control method is proposed by using the concept of quasi-continuous exponential stabilization. This method need not switch controllers, so that it suppresses the sudden changes of inputs, because the first and second steps in the conventional switching control based on an invariant manifold can be represented by one summarized form. Therefore, loads applied to the actuators can be considered to be reduced. It is shown through simulation experiments that the proposed method can suppress sudden changes of inputs, compared to the conventional switching control method, where the controlled object is a fire truck robot to be an underactuated system with three inputs and six outputs.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages692-697
Number of pages6
DOIs
Publication statusPublished - Nov 25 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Keywords

  • Fire truck robot
  • Invariant manifold
  • Quasi-continuous exponential stabilization
  • Underactuated control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Yoshimura, S., Watanabe, K., & Maeyama, S. (2013). Quasi-continuous exponential stabilization for the underactuated control of a fire truck robot by using an invariant manifold theory. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 692-697). [6618000] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618000