Invariant Manifold for Extended Nonholonomic Double Integrator Systems
Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as the dimension of the system increases. Since this system cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a canonical for...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/11344/1/Invariant%20Manifold%20for%20Extended%20Nonholonomic%20Double%20Integrator%20Systems.pdf |
| _version_ | 1796990965814132736 |
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| author | Z. M., Zain Mohd Rizal, Arshad M. M., Noh Pebrianti, Dwi N. M., Zain K. A., A. Rahim |
| author_facet | Z. M., Zain Mohd Rizal, Arshad M. M., Noh Pebrianti, Dwi N. M., Zain K. A., A. Rahim |
| author_sort | Z. M., Zain |
| collection | UMP |
| description | Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as
the dimension of the system increases. Since this system cannot be stabilized by a static continuous feedback with constant
gains, there are several control methods by using a canonical form up to now such as a chained form, a power form, a
goursat normal form and a double integrator model. In this paper, we consider extended nonholonomic double integrator
systems obtained by extending the Brockett nonholonomic integrator in order to expand the application of underactuated
control to control the system using invariant manifold approach.
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| first_indexed | 2024-03-06T11:59:20Z |
| format | Conference or Workshop Item |
| id | UMPir11344 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:59:20Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | UMPir113442018-05-02T03:03:28Z http://umpir.ump.edu.my/id/eprint/11344/ Invariant Manifold for Extended Nonholonomic Double Integrator Systems Z. M., Zain Mohd Rizal, Arshad M. M., Noh Pebrianti, Dwi N. M., Zain K. A., A. Rahim TK Electrical engineering. Electronics Nuclear engineering Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as the dimension of the system increases. Since this system cannot be stabilized by a static continuous feedback with constant gains, there are several control methods by using a canonical form up to now such as a chained form, a power form, a goursat normal form and a double integrator model. In this paper, we consider extended nonholonomic double integrator systems obtained by extending the Brockett nonholonomic integrator in order to expand the application of underactuated control to control the system using invariant manifold approach. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11344/1/Invariant%20Manifold%20for%20Extended%20Nonholonomic%20Double%20Integrator%20Systems.pdf Z. M., Zain and Mohd Rizal, Arshad and M. M., Noh and Pebrianti, Dwi and N. M., Zain and K. A., A. Rahim (2015) Invariant Manifold for Extended Nonholonomic Double Integrator Systems. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015) , 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Z. M., Zain Mohd Rizal, Arshad M. M., Noh Pebrianti, Dwi N. M., Zain K. A., A. Rahim Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title | Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title_full | Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title_fullStr | Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title_full_unstemmed | Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title_short | Invariant Manifold for Extended Nonholonomic Double Integrator Systems |
| title_sort | invariant manifold for extended nonholonomic double integrator systems |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/11344/1/Invariant%20Manifold%20for%20Extended%20Nonholonomic%20Double%20Integrator%20Systems.pdf |
| work_keys_str_mv | AT zmzain invariantmanifoldforextendednonholonomicdoubleintegratorsystems AT mohdrizalarshad invariantmanifoldforextendednonholonomicdoubleintegratorsystems AT mmnoh invariantmanifoldforextendednonholonomicdoubleintegratorsystems AT pebriantidwi invariantmanifoldforextendednonholonomicdoubleintegratorsystems AT nmzain invariantmanifoldforextendednonholonomicdoubleintegratorsystems AT kaarahim invariantmanifoldforextendednonholonomicdoubleintegratorsystems |