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 - 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

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

Fingerprint

Mobile robots
Trucks
Fires
Kinematics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

Cite this

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] https://doi.org/10.1109/SCIS-ISIS.2012.6505172

Underactuated control for a fire truck-type mobile robot using an invariant manifold theory. / Watanabe, Keigo; Ueda, Yuka; Nagai, Isaku.

6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 210-215 6505172.

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

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., 6505172, pp. 210-215, 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012, Kobe, Japan, 11/20/12. https://doi.org/10.1109/SCIS-ISIS.2012.6505172
Watanabe K, Ueda Y, Nagai I. 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. 2012. p. 210-215. 6505172 https://doi.org/10.1109/SCIS-ISIS.2012.6505172
Watanabe, Keigo ; Ueda, Yuka ; Nagai, Isaku. / Underactuated control for a fire truck-type mobile robot using an invariant manifold theory. 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. pp. 210-215
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