The Experts below are selected from a list of 306 Experts worldwide ranked by ideXlab platform

Shoichi Maeyama - One of the best experts on this subject based on the ideXlab platform.

  • 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, 2013
    Co-Authors: Syota Yoshimura, Keigo Watanabe, Shoichi Maeyama
    Abstract:

    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.

  • stabilization of a fire truck robot by an invariant Manifold Theory
    Procedia Engineering, 2012
    Co-Authors: Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama
    Abstract:

    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.

  • IROS - 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, 2010
    Co-Authors: Keigo Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi Maeyama
    Abstract:

    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.

  • 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, 2010
    Co-Authors: Keigo Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi Maeyama
    Abstract:

    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.

Keigo Watanabe - One of the best experts on this subject based on the ideXlab platform.

  • 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, 2013
    Co-Authors: Syota Yoshimura, Keigo Watanabe, Shoichi Maeyama
    Abstract:

    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.

  • SCIS&ISIS - 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, 2012
    Co-Authors: Keigo Watanabe, Yuka Ueda, Isaku Nagai
    Abstract:

    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.

  • stabilization of a fire truck robot by an invariant Manifold Theory
    Procedia Engineering, 2012
    Co-Authors: Keigo Watanabe, Yuka Ueda, Isaku Nagai, Shoichi Maeyama
    Abstract:

    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.

  • 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, 2012
    Co-Authors: Keigo Watanabe, Yuka Ueda, Isaku Nagai
    Abstract:

    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.

  • IROS - 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, 2010
    Co-Authors: Keigo Watanabe, Takahiro Yamamoto, Kiyotaka Izumi, Shoichi Maeyama
    Abstract:

    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.

S. Thompson - One of the best experts on this subject based on the ideXlab platform.

  • higher order corrections to the pi criterion using center Manifold Theory
    European Journal of Control, 2012
    Co-Authors: Costas Kravaris, Ioannis Dermitzakis, S. Thompson
    Abstract:

    The frequency-dependent pi criterion of Bittanti et al. [7] is a very important tool that has been used extensively in applications, to predict potential performance improvement under periodic forcing in a nonlinear system. The pi criterion is local in nature and provides an approximate formula for the performance index under small-amplitude periodic forcing. Motivated by basic results from Center Manifold Theory, the present work develops higher-order approximations, suitable for periodic forcing functions of larger amplitude. The proposed method is based on solving the Center Manifold partial differential equation via power series. The end result of the proposed approach is the approximate calculation of the performance index in the form of a truncated series expansion, which provides accurate results under larger amplitudes. The proposed method is applied to a continuous stirred tank reactor, where the yield of the desired product must be maximized.

  • Higher-order corrections to the pi criterion using center Manifold Theory
    Proceedings of the 41st IEEE Conference on Decision and Control 2002., 2002
    Co-Authors: Costas Kravaris, S. Thompson, Johannes Schwank
    Abstract:

    The frequency-dependent pi criterion of Bittanti et al. has been used extensively in applications to predict potential performance improvement under periodic forcing in a nonlinear system. The criterion, however, is local in nature and is limited to periodic forcing functions of small magnitude. The present work develops a method to determine higher-order corrections to the pi criterion, derived from basic results of center Manifold Theory. The proposed method is based on solving the center Manifold PDE via recursive Taylor series. The advantage of the proposed approach is the improvement of the accuracy of the pi criterion in predicting performance under larger amplitudes. The proposed method is applied to a continuous stirred tank reactor, where the yield of the desired product must be maximized.

Arjan J. Van Der Schaft - One of the best experts on this subject based on the ideXlab platform.

  • analytical approximation methods for the stabilizing solution of the hamilton jacobi equation
    IEEE Transactions on Automatic Control, 2008
    Co-Authors: N. Sakamoto, Arjan J. Van Der Schaft
    Abstract:

    In this paper, two methods for approximating the stabilizing solution of the Hamilton-Jacobi equation are proposed using symplectic geometry and a Hamiltonian perturbation technique as well as stable Manifold Theory. The first method uses the fact that the Hamiltonian lifted system of an integrable system is also integrable and regards the corresponding Hamiltonian system of the Hamilton-Jacobi equation as an integrable Hamiltonian system with a perturbation caused by control. The second method directly approximates the stable flow of the Hamiltonian systems using a modification of stable Manifold Theory. Both methods provide analytical approximations of the stable Lagrangian subManifold from which the stabilizing solution is derived. Two examples illustrate the effectiveness of the methods.

  • Analytical Approximation Methods for the Stabilizing Solution of the Hamilton–Jacobi Equation
    IEEE Transactions on Automatic Control, 2008
    Co-Authors: N. Sakamoto, Arjan J. Van Der Schaft
    Abstract:

    In this paper, two methods for approximating the stabilizing solution of the Hamilton-Jacobi equation are proposed using symplectic geometry and a Hamiltonian perturbation technique as well as stable Manifold Theory. The first method uses the fact that the Hamiltonian lifted system of an integrable system is also integrable and regards the corresponding Hamiltonian system of the Hamilton-Jacobi equation as an integrable Hamiltonian system with a perturbation caused by control. The second method directly approximates the stable flow of the Hamiltonian systems using a modification of stable Manifold Theory. Both methods provide analytical approximations of the stable Lagrangian subManifold from which the stabilizing solution is derived. Two examples illustrate the effectiveness of the methods.

Karl H. Spatschek - One of the best experts on this subject based on the ideXlab platform.

  • Center Manifold Theory for the dynamics of the L–H‐transition
    Physics of Plasmas, 1996
    Co-Authors: P. Beyer, Karl H. Spatschek
    Abstract:

    The transition of a tokamak plasma from low (L) to high (H) confinement is investigated. The spatio‐temporal behavior is analyzed using a model which is based on the reduced magnetohydrodynamic (MHD) description. The latter leads to a set of partial differential equations (PDE’s) which are solved numerically. Analytical insight into the dynamical behavior is obtained by applying the center Manifold Theory (in the case of one dominating marginal mode) and an inertial Manifold approximation (for several unstable modes). These procedures suggest to include an effective heating source into the equations in order to qualitatively understand the appearance of dithering cycles and edge localized modes (ELM’s). The numerical and analytical predictions are compared with recent experimental observations.

  • center Manifold Theory for the dynamics of the l h transition
    Physics of Plasmas, 1996
    Co-Authors: P. Beyer, Karl H. Spatschek
    Abstract:

    The transition of a tokamak plasma from low (L) to high (H) confinement is investigated. The spatio‐temporal behavior is analyzed using a model which is based on the reduced magnetohydrodynamic (MHD) description. The latter leads to a set of partial differential equations (PDE’s) which are solved numerically. Analytical insight into the dynamical behavior is obtained by applying the center Manifold Theory (in the case of one dominating marginal mode) and an inertial Manifold approximation (for several unstable modes). These procedures suggest to include an effective heating source into the equations in order to qualitatively understand the appearance of dithering cycles and edge localized modes (ELM’s). The numerical and analytical predictions are compared with recent experimental observations.

  • Center-Manifold Theory for low-frequency excitations in magnetized plasmas.
    Physical Review E, 1993
    Co-Authors: P. Beyer, Rainer Grauer, Karl H. Spatschek
    Abstract:

    For the dissipative trapped-ion mode, a simple one-dimensional nonlinear model equation, including the effects of instability, dissipation, and dispersion, is investigated. The center-Manifold Theory is applied to the situation of more than one marginally stable mode, and the dynamics in the neighborhood of the onset of instability is elucidated. Depending on the (three) relevant parameters, stable solitary waves, mixed modes, heteroclinic orbits, etc., can exist; a scenario for the nonlinear dynamical behavior is developed. The bifurcation diagrams are drawn with quantitative predictions in parameter space. An important conclusion is that the codimension-two analysis utilized can predict successive bifurcations which cannot be captured by simple analysis of one unstable mode. The analytical calculations are checked by numerical simulations.