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

Yung Hsiang Chen, Chan Hong Chao, Yung Yue Chen

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 4th IEEE Eurasia Conference on IoT, Communication and Engineering 2022, ECICE 2022
EditorsTeen-Hang Meen
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages565-568
Number of pages4
ISBN (Electronic)9781665482080
DOIs
Publication statusPublished - 2022
Event4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022 - Yunlin, Taiwan
Duration: 2022 Oct 282022 Oct 30

Publication series

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

Conference

Conference4th IEEE Eurasia Conference on IoT, Communication and Engineering, ECICE 2022
Country/TerritoryTaiwan
CityYunlin
Period22-10-2822-10-30

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

Fingerprint

Dive into the research topics of 'An Adaptive Optimal Control Design for Mobile Robots with A Symmetrical Schematic'. Together they form a unique fingerprint.

Cite this