Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System
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 f...
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2012/854140 |
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| author | Zahra Yaghoubi Hassan Zarabadipour Mahdi Aliyari Shoorehdeli |
| author_facet | Zahra Yaghoubi Hassan Zarabadipour Mahdi Aliyari Shoorehdeli |
| author_sort | Zahra Yaghoubi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-33ff07f408f040ca8bd95257fb2c41f6 |
| institution | OA Journals |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-33ff07f408f040ca8bd95257fb2c41f62025-08-20T02:24:17ZengWileyAbstract and Applied Analysis1085-33751687-04092012-01-01201210.1155/2012/854140854140Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot SystemZahra Yaghoubi0Hassan Zarabadipour1Mahdi Aliyari Shoorehdeli2Department of Electrical Engineering, Imam Khomeini International University, Qazvin 34149-16818, IranDepartment of Electrical Engineering, Imam Khomeini International University, Qazvin 34149-16818, IranDepartment of Mechatronics Engineering, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 19697, IranThis 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.http://dx.doi.org/10.1155/2012/854140 |
| spellingShingle | Zahra Yaghoubi Hassan Zarabadipour Mahdi Aliyari Shoorehdeli Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System Abstract and Applied Analysis |
| title | Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System |
| title_full | Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System |
| title_fullStr | Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System |
| title_full_unstemmed | Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System |
| title_short | Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System |
| title_sort | energy reduction with anticontrol of chaos for nonholonomic mobile robot system |
| url | http://dx.doi.org/10.1155/2012/854140 |
| work_keys_str_mv | AT zahrayaghoubi energyreductionwithanticontrolofchaosfornonholonomicmobilerobotsystem AT hassanzarabadipour energyreductionwithanticontrolofchaosfornonholonomicmobilerobotsystem AT mahdialiyarishoorehdeli energyreductionwithanticontrolofchaosfornonholonomicmobilerobotsystem |