Abstract
In this paper, the control of a mobile robot system via a feedback linearization controller and anti-control of chaos with parametric uncertainty is researched. Anti-control is also applied to convert non-chaotic systems to chaotic ones and to create chaos dynamic. The synchronization of system errors with a chaotic gyroscope system is researched for energy reduction and performance improvement. In the other words, control effort is based on synchronizing the error system with chaos for decreasing control cost. The combination of these techniques yields high efficiency and global convergence of trajectories, even in the presence of parametric uncertainty, which has been shown by simulation. Finally, the energy of control signals is calculated and compared for showing the energy reduction.
Highlights
The controller of non-holonomic systems became a challenging area for engineers; a lot of work has been done in this field
There are two approaches for mobile robot control: one of them is stabilization and the other is trajectory tracking, which means the control of robots to track a desired trajectory
The organization of this paper is as follows: in section 2, the chaotic gyroscope system is introduced, in section 3, mobile robot dynamics are described, sections 4 and 5 deal with the feedback linearization controller for nonlinear systems and mobile robot, in section 6, the control of mobile robot systems with feedback linearization via the anti-control of chaos is researched, in section 7, the linearization controller for the mobile robot with parametric uncertainty is studied, the simulation results are provided in section 8 and the conclusion is provided in the last section
Summary
The controller of non-holonomic systems became a challenging area for engineers; a lot of work has been done in this field. The application of chaos in control attracts a lot of attention Some features, such as initial conditions and limitations, are creating complexity in chaotic systems. The organization of this paper is as follows: in section 2, the chaotic gyroscope system is introduced, in section 3, mobile robot dynamics are described, sections 4 and 5 deal with the feedback linearization controller for nonlinear systems and mobile robot, in section 6, the control of mobile robot systems with feedback linearization via the anti-control of chaos is researched, in section 7, the linearization controller for the mobile robot with parametric uncertainty is studied, the simulation results are provided in section 8 and the conclusion is provided in the last section
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