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 proceedingConference 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 languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages2862-2867
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

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

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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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