抄録
Most of guided vehicles or automatic robots are equipped with a locomotion mechanism with two independent driving wheels. Since such robots have a nonholonomic constraint, it needs a specific control method when controlling them. We here concentrate on a stabilizing control approach using an invariant manifold. A nonholonomic controlled object always can be assured to converge to the origin in the control of using the invariant manifold, but it is not said to converge to an arbitrary point. The objective of this research is to stabilize the mobile robot with two independent driving wheels to any equilibrium point by applying the kinematic model of the robot. In this research, an extension to any point is tried by using an invariant manifold based on the kinematic model. This paper proposes a method for applying the invariant manifold theory to an error kinematic model and verifies the effectiveness of the proposed control method by simulations.
