Stabilization of a fire truck robot by an invariant manifold theory

Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama

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

3 Citations (Scopus)

Abstract

There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an invariant manifold theory is proposed for stabilizing it, where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.

Original languageEnglish
Title of host publicationProcedia Engineering
PublisherElsevier Ltd
Pages1095-1104
Number of pages10
Volume41
DOIs
Publication statusPublished - 2012
Event2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia
Duration: Sep 4 2012Sep 6 2012

Other

Other2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012
CountryMalaysia
CityKuching, Sarawak
Period9/4/129/6/12

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Keywords

  • Chained form
  • Fire truck robot
  • Invariant manifold
  • Nonholonomic systems
  • Underactuated control

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Watanabe, K., Ueda, Y., Nagai, I., & Maeyama, S. (2012). Stabilization of a fire truck robot by an invariant manifold theory. In Procedia Engineering (Vol. 41, pp. 1095-1104). Elsevier Ltd. https://doi.org/10.1016/j.proeng.2012.07.288