Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System
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In this article, the authors presented energy reduction with anticontrol of chaos for nonholonomic mobile robot system, where the error of the robot system has been synchronized with chaotic gyroscope for reducing energy and increasing performance.Abstract:
This paper presents energy reduction with anticontrol of chaos for nonholonomic mobile robot system. Anticontrol of chaos is also called chaotification, meaning to chaotify an originally non-chaotic system, and in this paper error of mobile robot system has been synchronized with chaotic gyroscope for reducing energy and increasing performance. The benefits of chaos synchronization with mechanical systems have led us to an innovation in this paper. The main purpose is that the control system in the presence of chaos work with lower control cost and control effort has been reduced. For comparison of proposed method, the feedback linearization controller has also been designed for mobile robot with noise. Finally, the efficacies of the proposed method have been illustrated by simulations, energy of control signals has been calculated, and effect of Alpha (: a constant coefficient is used beside of chaotic system) variations on the energy of control signals has been checked.read more
Citations
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Journal ArticleDOI
Adaptive chaotification of robot manipulators via neural networks with experimental evaluations
TL;DR: By using a Lyapunov-like framework, chaotification of robot manipulators is assured with an adaptive neural network control law and the robustness of the proposed neural network is corroborated by the experiments.
Journal ArticleDOI
A model-based velocity controller for chaotization of flexible joint robot manipulators: Synthesis, analysis, and experimental evaluations
TL;DR: A rigorous theoretical analysis based on Lyapunov’s theory is used to prove the asymptotic stability of the tracking error signals when using the proposed controller, which implies that a chaotic motion is induced to the robotic system.
Proceedings ArticleDOI
Lyapunov function-based adaptive chaos anti control of robot manipulators
TL;DR: By using the Lyapunov function framework, an adaptive chaos anti controller is proposed and has been experimentally tested in a two degrees-of-freedom direct-drive robot, which corresponds to the configuration of fully actuated rotational pendulum.
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