Anti-control of Chaos with Parametric Uncertainty for Nonholonomic Mobile Robot System via Feedback Linearization Controller
Publish place: 2nd International Conference on Electrical Engineering
Publish Year: 1396
Type: Conference paper
Language: English
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Document National Code:
ICELE02_083
Index date: 26 February 2018
Anti-control of Chaos with Parametric Uncertainty for Nonholonomic Mobile Robot System via Feedback Linearization Controller abstract
In this paper, feedback linearization controller has been designed for mobile robot system. In order to create chaos dynamic, anti-control of chaos is applied to convert a non-chaotic system to a chaotic system. To reduce energy and increase performance of the system, nonlinear system error tracking has been synchronized with chaotic gyroscope. The results of simulation has been shown the combination of feedback linearization control and anti-control of chaos have proved that using of these techniques leads to high efficiency of the proposed method even in the presence of parametric uncertainty. At the end, mean square error has been calculated and compared
Anti-control of Chaos with Parametric Uncertainty for Nonholonomic Mobile Robot System via Feedback Linearization Controller Keywords:
Anti-control of Chaos with Parametric Uncertainty for Nonholonomic Mobile Robot System via Feedback Linearization Controller authors
Zahra Yaghoubi
Department of electrical engineering,Imam Khomeini international university,Qazvin, Iran
Hassan Zarabadipour
Department of electrical engineering,Imam Khomeini international university,Qazvin, Iran