TY - GEN
T1 - Quasi-continuous exponential stabilization for the underactuated control of a fire truck robot by using an invariant manifold theory
AU - Yoshimura, Syota
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2013/11/25
Y1 - 2013/11/25
N2 - 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.
AB - 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.
KW - Fire truck robot
KW - Invariant manifold
KW - Quasi-continuous exponential stabilization
KW - Underactuated control
UR - http://www.scopus.com/inward/record.url?scp=84887885545&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887885545&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6618000
DO - 10.1109/ICMA.2013.6618000
M3 - Conference contribution
AN - SCOPUS:84887885545
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 692
EP - 697
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -