TY - GEN
T1 - Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory
AU - Watanabe, Keigo
AU - Yamamoto, Takahiro
AU - Izumi, Kiyotaka
AU - Maeyama, Shoichi
PY - 2010
Y1 - 2010
N2 - In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using invariant manifold theory. Next, to extend the velocity input control in a kinematic level to the torque input control in a dynamical level, an extended nonholonomic double integrator consisting of the kinematic and dynamical models is treated as a controlled object model. A quasi-continuous exponential stabilizing controller is further derived for such an extended model by using the same way as used in the kinematic level control. The effectiveness of the present method is proved with some demonstrative simulations.
AB - In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using invariant manifold theory. Next, to extend the velocity input control in a kinematic level to the torque input control in a dynamical level, an extended nonholonomic double integrator consisting of the kinematic and dynamical models is treated as a controlled object model. A quasi-continuous exponential stabilizing controller is further derived for such an extended model by using the same way as used in the kinematic level control. The effectiveness of the present method is proved with some demonstrative simulations.
UR - http://www.scopus.com/inward/record.url?scp=78651487603&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651487603&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650951
DO - 10.1109/IROS.2010.5650951
M3 - Conference contribution
AN - SCOPUS:78651487603
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 2862
EP - 2867
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -