Abstract
Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which control inputs are torque or force commands. We propose a switching controller based on the invariant manifold theory. Each controller is designed with a quasi-continuous exponential stabilized control. The effectiveness of the present method is verified by some simulations.
| Original language | English |
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| Title of host publication | ICCAS 2010 - International Conference on Control, Automation and Systems |
| Pages | 896-899 |
| Number of pages | 4 |
| Publication status | Published - Dec 1 2010 |
| Event | International Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of Duration: Oct 27 2010 → Oct 30 2010 |
Publication series
| Name | ICCAS 2010 - International Conference on Control, Automation and Systems |
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Other
| Other | International Conference on Control, Automation and Systems, ICCAS 2010 |
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| Country | Korea, Republic of |
| City | Gyeonggi-do |
| Period | 10/27/10 → 10/30/10 |
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Keywords
- Extended double integrator
- Invariant manifold
- Nonholonomic system
- Quasi-continuous exponential stabilization
- Switching control
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
Cite this
Izumi, K., & Watanabe, K. (2010). Switching manifold control for an extended nonholonomic double integrator. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 896-899). [5669820] (ICCAS 2010 - International Conference on Control, Automation and Systems).