Underactuated control for a fire truck-type mobile robot using an invariant manifold theory

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

3 Citations (Scopus)

Abstract

Underactuated control for a fire truck-type mobile robot is considered using an invariant manifold theory. A kinematic model with three inputs and six outputs is first transformed into a chained form, and then invariant manifolds are derived by applying the solution form of such a chained form. The present control strategy is based on a two-step approach: i.e., the first step is to make invariant manifolds, and the second step is to stabilize all the states on the manifolds. The effectiveness of the proposed method is demonstrated by a simulation.

Original languageEnglish
Title of host publication6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages210-215
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe, Japan
Duration: Nov 20 2012Nov 24 2012

Publication series

Name6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CountryJapan
CityKobe
Period11/20/1211/24/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

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    Watanabe, K., Ueda, Y., & Nagai, I. (2012). Underactuated control for a fire truck-type mobile robot using an invariant manifold theory. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 (pp. 210-215). [6505172] (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505172