Switching manifold control for an extended nonholonomic double integrator

Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages896-899
Number of pages4
Publication statusPublished - Dec 1 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: Oct 27 2010 → Oct 30 2010

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/27/10 → 10/30/10

Keywords

  • Extended double integrator
  • Invariant manifold
  • Nonholonomic system
  • Quasi-continuous exponential stabilization
  • Switching control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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