Asset Details
Do you wish to reserve the book?
Design an omnidirectional autonomous mobile robot based on non‐linear optimal control to track a specified path
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Design an omnidirectional autonomous mobile robot based on non‐linear optimal control to track a specified path
Do you wish to request the book?
Design an omnidirectional autonomous mobile robot based on non‐linear optimal control to track a specified path
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Design an omnidirectional autonomous mobile robot based on non‐linear optimal control to track a specified path
2024
Overview
This paper explores two non‐linear control techniques for designing an effective control system for an omnidirectional autonomous mobile robot with four Mecanum wheels. Due to the unique wheel structure and four separate wheels, the robot has non‐linear dynamics, multiple inputs and outputs. The first technique uses the state‐dependent Riccati equation (SDRE) to address optimal non‐linear control while considering energy and time constraints. The second technique, using an intermediate variable θ $\\theta $ , has expanded the Hamilton‐Jacobi‐Belman equation in terms of the power series. Consequently, these equations are reduced to a set of recursive Lyapunov algebraic equations, leading to a closed‐form solution for solving the non‐linear optimal control problem. Finally, the maneuverability and path‐tracking capability of the robot are examined by highlighting the non‐linear term through numerical simulation. This paper explores two non‐linear control techniques for designing an effective control system for an omnidirectional autonomous mobile robot with four Mecanum wheels. Due to the unique wheel structure and four separate wheels, the robot has non‐linear dynamics and multiple inputs and outputs.
Publisher
John Wiley & Sons, Inc,Wiley
Subject
