Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory

Keigo Watanabe; Takahiro Yamamoto; Kiyotaka Izumi; Shoichi Maeyama

doi:10.1109/IROS.2010.5650951

Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory

Keigo Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi Maeyama

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

16 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages	2862-2867
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2010.5650951
Publication status	Published - Dec 1 2010
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: Oct 18 2010 → Oct 22 2010

Publication series

Name	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country	Taiwan, Province of China
City	Taipei
Period	10/18/10 → 10/22/10

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Control and Systems Engineering

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10.1109/IROS.2010.5650951

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Watanabe, K., Yamamoto, T., Izumi, K., & Maeyama, S. (2010). Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 2862-2867). [5650951] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650951

Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory. / Watanabe, Keigo; Yamamoto, Takahiro; Izumi, Kiyotaka; Maeyama, Shoichi.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2862-2867 5650951 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Watanabe, K, Yamamoto, T, Izumi, K & Maeyama, S 2010, Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650951, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 2862-2867, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5650951

Watanabe K, Yamamoto T, Izumi K, Maeyama S. Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 2862-2867. 5650951. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650951

Watanabe, Keigo ; Yamamoto, Takahiro ; Izumi, Kiyotaka ; Maeyama, Shoichi. / Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 2862-2867 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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