An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic

Yung Hsiang Chen; Chan Hong Chao; Yung Yue Chen

doi:10.1109/ECICE55674.2022.10042885

An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic

Yung Hsiang Chen, Chan Hong Chao, Yung Yue Chen

Department of Systems and Naval Mechatronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

An adaptive fuzzy control design is developed in this investigation. The main objective of the proposed method will solve the trajectory tracking problem of mobile robots which are with a symmetrical schematic property and modelling uncertainties. This proposed control law combines a nonlinear optimal control which is used for the purpose of saving energy consumption and a fuzzy eliminator utilized to model the uncertainties. This proposed control method facilitates to implement in practice since the analytical solution of this tracking problem of mobile robot is found. From the simulation results, this proposed control design delivers really promising control performance for mobile robots.

Original language	English
Title of host publication	Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022
Editors	Teen-Hang Meen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	565-568
Number of pages	4
ISBN (Electronic)	9781665482080
DOIs	https://doi.org/10.1109/ECICE55674.2022.10042885
Publication status	Published - 2022
Event	4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022 - Yunlin, Taiwan Duration: 2022 Oct 28 → 2022 Oct 30

Publication series

Name	Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022

Conference

Conference	4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022
Country/Territory	Taiwan
City	Yunlin
Period	22-10-28 → 22-10-30

All Science Journal Classification (ASJC) codes

Computer Networks and Communications
Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization
Modelling and Simulation
Numerical Analysis
Artificial Intelligence

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ECICE55674.2022.10042885

Cite this

Chen, Y. H., Chao, C. H., & Chen, Y. Y. (2022). An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic. In T.-H. Meen (Ed.), Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022 (pp. 565-568). (Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECICE55674.2022.10042885

Chen, Yung Hsiang ; Chao, Chan Hong ; Chen, Yung Yue. / An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic. Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022. editor / Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 565-568 (Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022).

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title = "An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic",

abstract = "An adaptive fuzzy control design is developed in this investigation. The main objective of the proposed method will solve the trajectory tracking problem of mobile robots which are with a symmetrical schematic property and modelling uncertainties. This proposed control law combines a nonlinear optimal control which is used for the purpose of saving energy consumption and a fuzzy eliminator utilized to model the uncertainties. This proposed control method facilitates to implement in practice since the analytical solution of this tracking problem of mobile robot is found. From the simulation results, this proposed control design delivers really promising control performance for mobile robots.",

author = "Chen, {Yung Hsiang} and Chao, {Chan Hong} and Chen, {Yung Yue}",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022 ; Conference date: 28-10-2022 Through 30-10-2022",

year = "2022",

doi = "10.1109/ECICE55674.2022.10042885",

language = "English",

series = "Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022",

address = "United States",

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Chen, YH, Chao, CH & Chen, YY 2022, An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic. in T-H Meen (ed.), Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022. Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022, Institute of Electrical and Electronics Engineers Inc., pp. 565-568, 4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022, Yunlin, Taiwan, 22-10-28. https://doi.org/10.1109/ECICE55674.2022.10042885

An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic. / Chen, Yung Hsiang; Chao, Chan Hong; Chen, Yung Yue.
Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022. ed. / Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2022. p. 565-568 (Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Chen, Yung Yue

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N2 - An adaptive fuzzy control design is developed in this investigation. The main objective of the proposed method will solve the trajectory tracking problem of mobile robots which are with a symmetrical schematic property and modelling uncertainties. This proposed control law combines a nonlinear optimal control which is used for the purpose of saving energy consumption and a fuzzy eliminator utilized to model the uncertainties. This proposed control method facilitates to implement in practice since the analytical solution of this tracking problem of mobile robot is found. From the simulation results, this proposed control design delivers really promising control performance for mobile robots.

AB - An adaptive fuzzy control design is developed in this investigation. The main objective of the proposed method will solve the trajectory tracking problem of mobile robots which are with a symmetrical schematic property and modelling uncertainties. This proposed control law combines a nonlinear optimal control which is used for the purpose of saving energy consumption and a fuzzy eliminator utilized to model the uncertainties. This proposed control method facilitates to implement in practice since the analytical solution of this tracking problem of mobile robot is found. From the simulation results, this proposed control design delivers really promising control performance for mobile robots.

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BT - Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022

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Chen YH, Chao CH, Chen YY. An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic. In Meen TH, editor, Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 565-568. (Proceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022). doi: 10.1109/ECICE55674.2022.10042885

An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic

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UN SDGs

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