Control of Non-holonomic Mobile Robot System via Feedback Linearization Controller and Anti-control of Chaos
Publish Year: 1396
Type: Conference paper
Language: English
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Document National Code:
ETECH03_006
Index date: 23 July 2018
Control of Non-holonomic Mobile Robot System via Feedback Linearization Controller and Anti-control of Chaos 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. In other words, control effort is based on synchronizing error system with chaos to decrease control cost. 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. At the end, energy signal control has been calculated and compared to show energy reduction.
Control of Non-holonomic Mobile Robot System via Feedback Linearization Controller and Anti-control of Chaos Keywords:
Control of Non-holonomic Mobile Robot System via Feedback Linearization Controller and Anti-control of Chaos 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