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Invariant manifold-based stabilizing controllers for nonholonomic mobile robots

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Abstract

The problem of designing a stabilizing controller for point-to-point control of a four-wheeled mobile robot is considered in this study. The stability of the proposed control system is analyzed using Lyapunov theory. Firstly, a four-wheeled mobile robot which is an under-actuated system with two inputs is considered as a controlled object. Then, the switching and non-switching control methods based on an invariant manifold theory are proposed for stabilizing it in the desired position and orientation, where a chained form model is assumed to be used as a canonical model. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

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Authors and Affiliations

  1. Okayama University, Okayama, Japan

    Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama & Isaku Nagai

Authors
  1. Yin Yin Aye
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  2. Keigo Watanabe
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  3. Shoichi Maeyama
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  4. Isaku Nagai
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Corresponding author

Correspondence to Yin Yin Aye.

Additional information

This work was presented in part at the 20th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 21–23, 2015.

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Aye, Y.Y., Watanabe, K., Maeyama, S. et al. Invariant manifold-based stabilizing controllers for nonholonomic mobile robots. Artif Life Robotics 20, 276–284 (2015). https://doi.org/10.1007/s10015-015-0219-8

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  • DOI: https://doi.org/10.1007/s10015-015-0219-8

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