Reduction of Control Torques of Mobile Robot Using Hybrid Nonlinear Position Controller
We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The par...
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| creator | Lacevic, B. Velagic, J. Perunicic, B. |
| description | We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot |
| doi_str_mv | 10.1109/EURCON.2005.1629924 |
| format | Conference Proceeding |
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In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. 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In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot</description><subject>Backstepping</subject><subject>backstepping algorithm</subject><subject>Control systems</subject><subject>control torques reduction</subject><subject>genetic algorithm</subject><subject>Genetic algorithms</subject><subject>Mobile robot</subject><subject>Mobile robots</subject><subject>Nonlinear dynamical systems</subject><subject>Robot control</subject><subject>robot dynamics</subject><subject>Torque control</subject><subject>Trajectory</subject><subject>trajectory tracking</subject><subject>Velocity control</subject><subject>Wheels</subject><isbn>9781424400492</isbn><isbn>142440049X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj11LwzAYhQMiKLO_YDf5A61v0rRpLqVMJ8xNyoqXI2neSKQ2mnQX-_d-bOfmwIHngUPIkkHBGKj7Vd-1u23BAaqC1VwpLq5IpmTDBBcCQCh-Q7KUPuA3omJcVrfkrUN7HGYfJhocbcM0xzDSfYjfR0x_00swfkTaBRNm2ic_vdP1yURv6TZMo59QR_oakv9XXPgR4x25dnpMmF16QfrH1b5d55vd03P7sMk9k9WcK5CNNsZp2djB2rIBVdcOGWrloASNjkkYjFGD5dYKlOAG0WgUGiteO1kuyPLs9Yh4-Ir-U8fT4XK__AGRhlLf</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Lacevic, B.</creator><creator>Velagic, J.</creator><creator>Perunicic, B.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2005</creationdate><title>Reduction of Control Torques of Mobile Robot Using Hybrid Nonlinear Position Controller</title><author>Lacevic, B. ; Velagic, J. ; Perunicic, B.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-9078abbfa78dcdd380966fe1ea9f030aef170cbb9cd2dd4e70fc48ae4ae526f73</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Backstepping</topic><topic>backstepping algorithm</topic><topic>Control systems</topic><topic>control torques reduction</topic><topic>genetic algorithm</topic><topic>Genetic algorithms</topic><topic>Mobile robot</topic><topic>Mobile robots</topic><topic>Nonlinear dynamical systems</topic><topic>Robot control</topic><topic>robot dynamics</topic><topic>Torque control</topic><topic>Trajectory</topic><topic>trajectory tracking</topic><topic>Velocity control</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Lacevic, B.</creatorcontrib><creatorcontrib>Velagic, J.</creatorcontrib><creatorcontrib>Perunicic, B.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lacevic, B.</au><au>Velagic, J.</au><au>Perunicic, B.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Reduction of Control Torques of Mobile Robot Using Hybrid Nonlinear Position Controller</atitle><btitle>EUROCON 2005 - The International Conference on "Computer as a Tool"</btitle><stitle>EURCON</stitle><date>2005</date><risdate>2005</risdate><volume>1</volume><spage>314</spage><epage>317</epage><pages>314-317</pages><isbn>9781424400492</isbn><isbn>142440049X</isbn><abstract>We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot</abstract><pub>IEEE</pub><doi>10.1109/EURCON.2005.1629924</doi><tpages>4</tpages></addata></record> |
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| subjects | Backstepping backstepping algorithm Control systems control torques reduction genetic algorithm Genetic algorithms Mobile robot Mobile robots Nonlinear dynamical systems Robot control robot dynamics Torque control Trajectory trajectory tracking Velocity control Wheels |
| title | Reduction of Control Torques of Mobile Robot Using Hybrid Nonlinear Position Controller |
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