The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
Shoichi Maeyama - One of the best experts on this subject based on the ideXlab platform.
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Quasi-continuous exponential stabilization for the underactuated control of a fire truck robot by using an Invariant Manifold theory
2013 IEEE International Conference on Mechatronics and Automation, 2013Co-Authors: Syota Yoshimura, K. Watanabe, Shoichi MaeyamaAbstract:In the research of underactuated control, there are limited results that are for the controlled object with three and more inputs and are based on an Invariant Manifold theory. For example, there is a switching control method based on an Invariant Manifold. However, such a control method generates sudden changes of inputs when switching the controllers. In this paper, a control method is proposed by using the concept of quasi-continuous exponential stabilization. This method need not switch controllers, so that it suppresses the sudden changes of inputs, because the first and second steps in the conventional switching control based on an Invariant Manifold can be represented by one summarized form. Therefore, loads applied to the actuators can be considered to be reduced. It is shown through simulation experiments that the proposed method can suppress sudden changes of inputs, compared to the conventional switching control method, where the controlled object is a fire truck robot to be an underactuated system with three inputs and six outputs.
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stabilization of a fire truck robot by an Invariant Manifold theory
Procedia Engineering, 2012Co-Authors: K. Watanabe, Yuka Ueda, Isaku Nagai, Shoichi MaeyamaAbstract:Abstract There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an Invariant Manifold theory is proposed for stabilizing it,where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.
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Underactuated control for nonholonomic mobile robots by using double integrator model and Invariant Manifold theory
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: K. Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi MaeyamaAbstract:In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using Invariant Manifold theory. Next, to extend the velocity input control in a kinematic level to the torque input control in a dynamical level, an extended nonholonomic double integrator consisting of the kinematic and dynamical models is treated as a controlled object model. A quasi-continuous exponential stabilizing controller is further derived for such an extended model by using the same way as used in the kinematic level control. The effectiveness of the present method is proved with some demonstrative simulations.
Giuseppe Rega - One of the best experts on this subject based on the ideXlab platform.
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detecting stable unstable nonlinear Invariant Manifold and homoclinic orbits in mechanical systems
Nonlinear Dynamics, 2011Co-Authors: Stefano Lenci, Giuseppe RegaAbstract:We consider a four-dimensional Hamiltonian system representing the reduced-order (two-mode) dynamics of a buckled beam, where the nonlinearity comes from the axial deformation in moderate displacements, according to classical theories. The system has a saddle-center equilibrium point, and we pay attention to the existence and detection of the stable–unstable nonlinear Manifold and of homoclinic solutions, which are the sources of complex and chaotic dynamics observed in the system response. The system has also a coupling nonlinear parameter, which depends on the boundary conditions, and is zero, e.g., for the beam hinged–hinged ends and different from zero, e.g., for the beam fixed–fixed ends. The Invariant Manifold in the latter case is detected assuming that it can be represented as a graph over the plane spanned by the unstable (principal) variable and its velocity. We show by a series solution that the Manifold exists but has a limited extension, not sufficient for the deployment of the homoclinic orbit. Thus, the homoclinic orbit is addressed directly, irrespective of its belonging to the Invariant Manifold. By means of the perturbation method, it is shown that it exists only on some curves of the governing parameters space, which branch from a fundamental path. This shows that the homoclinic orbit is not generic. These results have been confirmed by numerical simulations and by a different analytical technique.
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detecting stable unstable nonlinear Invariant Manifold and homoclinic orbits in mechanical systems
2008 ASME International Mechanical Engineering Congress and Exposition IMECE 2008, 2008Co-Authors: Stefano Lenci, Giuseppe RegaAbstract:We consider a four-dimensional Hamiltonian system representing the reduced-order (two-mode) dynamics of a buckled beam, where the nonlinearity comes from the axial deformation in moderate displacements, according to classical theories. The system has a saddle-center equilibrium point, and we pay attention to the existence and detection of the stable–unstable nonlinear Manifold and of homoclinic solutions, which are the sources of complex and chaotic dynamics observed in the system response. The system has also a coupling nonlinear parameter, which depends on the boundary conditions, and is zero, e.g., for the beam hinged–hinged ends and different from zero, e.g., for the beam fixed–fixed ends.
K. Watanabe - One of the best experts on this subject based on the ideXlab platform.
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Quasi-continuous exponential stabilization for the underactuated control of a fire truck robot by using an Invariant Manifold theory
2013 IEEE International Conference on Mechatronics and Automation, 2013Co-Authors: Syota Yoshimura, K. Watanabe, Shoichi MaeyamaAbstract:In the research of underactuated control, there are limited results that are for the controlled object with three and more inputs and are based on an Invariant Manifold theory. For example, there is a switching control method based on an Invariant Manifold. However, such a control method generates sudden changes of inputs when switching the controllers. In this paper, a control method is proposed by using the concept of quasi-continuous exponential stabilization. This method need not switch controllers, so that it suppresses the sudden changes of inputs, because the first and second steps in the conventional switching control based on an Invariant Manifold can be represented by one summarized form. Therefore, loads applied to the actuators can be considered to be reduced. It is shown through simulation experiments that the proposed method can suppress sudden changes of inputs, compared to the conventional switching control method, where the controlled object is a fire truck robot to be an underactuated system with three inputs and six outputs.
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stabilization of a fire truck robot by an Invariant Manifold theory
Procedia Engineering, 2012Co-Authors: K. Watanabe, Yuka Ueda, Isaku Nagai, Shoichi MaeyamaAbstract:Abstract There exist various studies on underactuated control methods so far, but most of them are confined into the case of systems with two inputs, and therefore there are a few studies for systems with three or more inputs. In this paper, a fire truck robot that is an underactuated system with three inputs is considered as a controlled object, and a switching control method based on an Invariant Manifold theory is proposed for stabilizing it,where a chained form model is assumed to be used as a canonical model. It is expected that each state of the controlled object will be converged smoothly to the origin by using this type of control. The effectiveness of the proposed method is demonstrated through simulations.
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Underactuated control for a fire truck-type mobile robot using an Invariant Manifold theory
The 6th International Conference on Soft Computing and Intelligent Systems and The 13th International Symposium on Advanced Intelligence Systems, 2012Co-Authors: K. Watanabe, Yuka Ueda, Isaku NagaiAbstract: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.
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Underactuated control for nonholonomic mobile robots by using double integrator model and Invariant Manifold theory
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: K. Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi MaeyamaAbstract:In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using Invariant Manifold theory. Next, to extend the velocity input control in a kinematic level to the torque input control in a dynamical level, an extended nonholonomic double integrator consisting of the kinematic and dynamical models is treated as a controlled object model. A quasi-continuous exponential stabilizing controller is further derived for such an extended model by using the same way as used in the kinematic level control. The effectiveness of the present method is proved with some demonstrative simulations.
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A switching control method for stabilizing a nonholonomic mobile robot using Invariant Manifold method
Proceedings of SICE Annual Conference 2010, 2010Co-Authors: Takahiro Yamamoto, K. WatanabeAbstract:A system with nonholonomic constraints attracts its attention from the viewpoint of control theory because any conventional control cannot be applied directly to such a system. Since it cannot be stabilized by a static continuous feedback with constant gains, there are several control methods up to now by using a chained form etc. Among them, a switching control method using Invariant Manifold, which is considered as a generalized form for sliding mode control known as one of conventional switching control methods, and a quasi-continuous exponential stabilizing control method are proposed in a power form system with two inputs and three states or two inputs and n-states. In this study, as a new method, a switching control method using an Invariant Manifold as mentioned above is examined for a “double integrator system,” known as an alternative canonical model for nonholonomic systems. In particular, stabilizing controllers are derived for the case of a kinematic model with two inputs and three states and for the case of a dynamic model with two inputs and five states, which is just as an “extended double integrator system.” The effectiveness of the proposed controllers is demonstrated through simulations for a mobile robot with two independent driving wheels.
Stefano Lenci - One of the best experts on this subject based on the ideXlab platform.
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detecting stable unstable nonlinear Invariant Manifold and homoclinic orbits in mechanical systems
Nonlinear Dynamics, 2011Co-Authors: Stefano Lenci, Giuseppe RegaAbstract:We consider a four-dimensional Hamiltonian system representing the reduced-order (two-mode) dynamics of a buckled beam, where the nonlinearity comes from the axial deformation in moderate displacements, according to classical theories. The system has a saddle-center equilibrium point, and we pay attention to the existence and detection of the stable–unstable nonlinear Manifold and of homoclinic solutions, which are the sources of complex and chaotic dynamics observed in the system response. The system has also a coupling nonlinear parameter, which depends on the boundary conditions, and is zero, e.g., for the beam hinged–hinged ends and different from zero, e.g., for the beam fixed–fixed ends. The Invariant Manifold in the latter case is detected assuming that it can be represented as a graph over the plane spanned by the unstable (principal) variable and its velocity. We show by a series solution that the Manifold exists but has a limited extension, not sufficient for the deployment of the homoclinic orbit. Thus, the homoclinic orbit is addressed directly, irrespective of its belonging to the Invariant Manifold. By means of the perturbation method, it is shown that it exists only on some curves of the governing parameters space, which branch from a fundamental path. This shows that the homoclinic orbit is not generic. These results have been confirmed by numerical simulations and by a different analytical technique.
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detecting stable unstable nonlinear Invariant Manifold and homoclinic orbits in mechanical systems
2008 ASME International Mechanical Engineering Congress and Exposition IMECE 2008, 2008Co-Authors: Stefano Lenci, Giuseppe RegaAbstract:We consider a four-dimensional Hamiltonian system representing the reduced-order (two-mode) dynamics of a buckled beam, where the nonlinearity comes from the axial deformation in moderate displacements, according to classical theories. The system has a saddle-center equilibrium point, and we pay attention to the existence and detection of the stable–unstable nonlinear Manifold and of homoclinic solutions, which are the sources of complex and chaotic dynamics observed in the system response. The system has also a coupling nonlinear parameter, which depends on the boundary conditions, and is zero, e.g., for the beam hinged–hinged ends and different from zero, e.g., for the beam fixed–fixed ends.
Waqar Azeem Khan - One of the best experts on this subject based on the ideXlab platform.
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computational analysis of the slow Invariant Manifold for single and multi route reaction mechanisms
Scientia Iranica, 2020Co-Authors: Muhammad Shahzad, F Sultan, Mehboob Ali, Waqar Azeem KhanAbstract:The complexity behavior lies in many natural phenomena’s, such as our ecosystems, the earth’s climate, the behavior of the animal group, living cells and our brain. Therefore, a new field of “systems chemistry” is emerging, which aims to capture the complexity observed in natural systems within a synthetic chemical framework. To understand the physical behavior of the chemical components in a reaction mechanism (system), we need to understand the overall (complete) reactions network as well as different available reaction-paths. We propose the development of a multi-route reaction mechanism for a complex chemical reaction mechanism which is unsolvable through a common way. Further, Invariant Manifold approximation has been constructed through the Quasi Equilibrium Manifold. The numerical results have been tabulated along with the graphical view through MATLAB
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slow Invariant Manifold assessments in multi route reaction mechanism
Journal of Molecular Liquids, 2019Co-Authors: Muhammad Shahzad, F Sultan, Mehboob Ali, Waqar Azeem Khan, M IrfanAbstract:Abstract A complex chemical scheme is need to reduce their complexity without losing their key features. A chemical reaction scheme has braked down in different available reaction routes. On matrix algebraic approach bases, we analyze key-components, key reactions and reaction routes. A model reduction technique Spectral Quasi Equilibrium Manifold (SQEM) has applied to reduce the dimension of reaction mechanism. However, for the case study the behaviour of different available routes of reaction mechanism presented graphically. The reaction routes and Invariants for idealized H2/O six-step reversible system and comparison has not been reported so far. To overcome this difficulty a clue about reaction routes have addressed through analysis of stoichiometry, the route compression with respect to their slow Invariant Manifold (SIM), the physical behaviour of chemically reacting species near to equilibrium point and extension towards the high dimension are expressed graphically.
