Optimal parameter tuning in a predictive nonlinear control method for a mobile robot
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2014
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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 |
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English |
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RMSE Non-holonomic Kinematics model Stable trajectory |
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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/ |
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hazry@unimap.edu.my |
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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 |
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1643802750096506880 |