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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...

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Main Authors: Z. M., Zain, Mohd Rizal, Arshad, M. M., Noh, Pebrianti, Dwi, N. M., Zain, K. A., A. Rahim
Format: Conference or Workshop Item
Language:English
Published: 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/11344/1/Invariant%20Manifold%20for%20Extended%20Nonholonomic%20Double%20Integrator%20Systems.pdf
http://umpir.ump.edu.my/id/eprint/11344/
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spelling my.ump.umpir.113442018-05-02T03:03:28Z 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 (Unpublished)
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
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
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.
format Conference or Workshop Item
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
title Invariant Manifold for Extended Nonholonomic Double Integrator Systems
title_short 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_sort invariant manifold for extended nonholonomic double integrator systems
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/11344/1/Invariant%20Manifold%20for%20Extended%20Nonholonomic%20Double%20Integrator%20Systems.pdf
http://umpir.ump.edu.my/id/eprint/11344/
_version_ 1643666639736012800
score 13.211869

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