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 |
|---|---|
| Title of host publication | ICCAS 2010 - International Conference on Control, Automation and Systems |
| Pages | 896-899 |
| Number of pages | 4 |
| Publication status | Published - 2010 |
| Event | International Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of Duration: Oct 27 2010 → Oct 30 2010 |
Other
| Other | International Conference on Control, Automation and Systems, ICCAS 2010 |
|---|---|
| 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
Switching manifold control for an extended nonholonomic double integrator. / Izumi, Kiyotaka; Watanabe, Keigo.
ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 896-899 5669820.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Switching manifold control for an extended nonholonomic double integrator
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Extended double integrator
KW - Invariant manifold
KW - Nonholonomic system
KW - Quasi-continuous exponential stabilization
KW - Switching control
UR - http://www.scopus.com/inward/record.url?scp=78751542071&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751542071&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78751542071
SN - 9781424474530
SP - 896
EP - 899
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
ER -