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Optimal parameter tuning in a predictive nonlinear control method for a mobile robot

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Main Authors: Hazry, Desa, Assoc. Prof. Dr., Masanori, Sugisaka
Other Authors: hazry@unimap.edu.my
Format: Article
Language:English
Published: Science Publications 2014
Subjects:
RMSE
Non-holonomic
Kinematics model
Stable trajectory
Online Access:http://dspace.unimap.edu.my:80/dspace/handle/123456789/33711
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spelling my.unimap-337112017-11-29T05:06:33Z Optimal parameter tuning in a predictive nonlinear control method for a mobile robot Hazry, Desa, Assoc. Prof. Dr. Masanori, Sugisaka hazry@unimap.edu.my msugi@cc.oita-u.ac.jp RMSE Non-holonomic Kinematics model Stable trajectory Link to publisher's homepage at http://thescipub.com/ This study contributes to a new optimal parameter tuning in a predictive nonlinear control method for stable trajectory straight line tracking with a non-holonomic mobile robot. In this method, the focus lies in finding the optimal parameter estimation and to predict the path that the mobile robot will follow for stable trajectory straight line tracking system. The stability control contains three parameters: 1) deflection parameter for the traveling direction of the mobile robot 2) deflection parameter for the distance across traveling direction of the mobile robot and 3) deflection parameter for the steering angle of the mobile robot . Two hundred and seventy three experimental were performed and the results have been analyzed and described herewith. It is found that by using a new optimal parameter tuning in a predictive nonlinear control method derived from the extension of kinematics model, the movement of the mobile robot is stabilized and adhered to the reference posture. 2014-04-15T09:20:32Z 2014-04-15T09:20:32Z 2006 Article American Journal of Applied Sciences, vol. 3(4), 2006, pages 1803-1809 1546-9239 (Print) 1554-3641 (Online) http://dspace.unimap.edu.my:80/dspace/handle/123456789/33711 http://www.thescipub.com/abstract/10.3844/ajassp.2006.1803.1809 10.3844/ajassp.2006.1803.1809 en Science Publications
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic RMSE
Non-holonomic
Kinematics model
Stable trajectory
spellingShingle RMSE
Non-holonomic
Kinematics model
Stable trajectory
Hazry, Desa, Assoc. Prof. Dr.
Masanori, Sugisaka
Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
description Link to publisher's homepage at http://thescipub.com/
author2 hazry@unimap.edu.my
author_facet hazry@unimap.edu.my
Hazry, Desa, Assoc. Prof. Dr.
Masanori, Sugisaka
format Article
author Hazry, Desa, Assoc. Prof. Dr.
Masanori, Sugisaka
author_sort Hazry, Desa, Assoc. Prof. Dr.
title Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
title_short Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
title_full Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
title_fullStr Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
title_full_unstemmed Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
title_sort optimal parameter tuning in a predictive nonlinear control method for a mobile robot
publisher Science Publications
publishDate 2014
url http://dspace.unimap.edu.my:80/dspace/handle/123456789/33711
_version_ 1643802750096506880
score 13.214268

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