Original scientific paper

https://doi.org/10.31803/tg-20190116100550

Control of a non-holonomic mobile robot system with parametric uncertainty

Hassan Zarabadipour ; Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran
Zahra Yaghoubi ; Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran

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.

Keywords

anti-control of chaos; feedback linearization controller; non-holonomic mobile robot; parametric uncertainty

Hrčak ID:

218162

URI

https://hrcak.srce.hr/218162

Publication date:

23.3.2019.

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