Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System | Zendy

Zahra Yaghoubi | Zendy; Hassan Zarabadipour | Zendy; Mahdi Aliyari Shoorehdeli | Zendy

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Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System

Author(s) -

Zahra Yaghoubi,

Hassan Zarabadipour,

Mahdi Aliyari Shoorehdeli

Publication year - 2012

Publication title -

abstract and applied analysis

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.228

H-Index - 56

eISSN - 1687-0409

pISSN - 1085-3375

DOI - 10.1155/2012/854140

Subject(s) - control theory (sociology) , nonholonomic system , controller (irrigation) , energy (signal processing) , robot , mobile robot , linearization , chaos (operating system) , mathematics , chaotic , reduction (mathematics) , synchronization (alternating current) , gyroscope , computer science , control (management) , topology (electrical circuits) , artificial intelligence , physics , nonlinear system , combinatorics , statistics , geometry , computer security , quantum mechanics , agronomy , biology

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

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