TY - GEN
T1 - Underactuated control for a fire truck-type mobile robot using an invariant manifold theory
AU - Watanabe, Keigo
AU - Ueda, Yuka
AU - Nagai, Isaku
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84877806945&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84877806945&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2012.6505172
DO - 10.1109/SCIS-ISIS.2012.6505172
M3 - Conference contribution
AN - SCOPUS:84877806945
SN - 9781467327428
T3 - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
SP - 210
EP - 215
BT - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
T2 - 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
Y2 - 20 November 2012 through 24 November 2012
ER -