This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were...
详细信息
This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The controldesign is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.
The aim of this paper considers the determination of optimal control trajectories of a complex process. The proposed method is based on the decomposition of the system into interconnected subsystems. We consider the c...
详细信息
The aim of this paper considers the determination of optimal control trajectories of a complex process. The proposed method is based on the decomposition of the system into interconnected subsystems. We consider the cases where subsystems are linear in terms of their state and control vectors. For this reason, a neural network is identified which compute local gains. Genetic algorithms are used to optimize the networks weights. Simulation results show that the proposed approximations yield satisfactory performances.
This paper looks into the determination of optimal trajectories of a nonlinear model of a two-link articulated manipulator. In a first step, genetic algorithms are used to generate an optimal control sequence which is...
详细信息
This paper looks into the determination of optimal trajectories of a nonlinear model of a two-link articulated manipulator. In a first step, genetic algorithms are used to generate an optimal control sequence which is used to bring the manipulator robot into a desired position. In a second step, genetic algorithms optimize the parameters of membership functions to facilitate the realization of a Sugeno fuzzy logic based optimal controller. Simulation results show that the second step gives suboptimal solutions, however the first step yields to optimal solutions which are very sensitive with respect to the parameter variation of the system.
暂无评论