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 (Unpublished)
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Abstract
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.
| Item Type: | Conference or Workshop Item (Speech) |
|---|---|
| Uncontrolled Keywords: | Invariant Manifold, Nonholonomic Double Integrator, Extended Double Integrator |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 23 Nov 2015 07:00 |
| Last Modified: | 02 May 2018 03:03 |
| URI: | http://umpir.ump.edu.my/id/eprint/11344 |
| Download Statistic: | View Download Statistics |
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