Dynamic modelling and control design of a class of omnidirectional mobile robots

2002 ◽  
Author(s):  
A. Betourne ◽  
G. Campion
Keyword(s):  
Mobile Robots ◽  
Dynamic Modelling ◽  
Control Design ◽  
And Control

GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

2005 ◽  
Vol 02 (02) ◽  
pp. 77-91 ◽  
Author(s):  
XIAOCHUAN WANG ◽  
SIMON X. YANG ◽  
MAX Q.-H. MENG
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Control Structure ◽  
Controller Design ◽  
Sensor Placement ◽  
Control Design ◽  
Simulation Studies ◽  
Optimal Sensor Placement ◽  
Reactive Navigation ◽  
And Control

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

scholarly journals Kinematics, dynamics and control design of 4WIS4WID mobile robots

2015 ◽  
Vol 2015 (1) ◽  
pp. 6-16 ◽  
Author(s):  
Ming-Han Lee ◽  
Tzuu-Hseng S. Li
Keyword(s):  
Mobile Robots ◽  
Control Design ◽  
Dynamics And Control ◽  
And Control

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

scholarly journals Dynamic modelling, simulation, and control design of a pressurized water-type nuclear power plant

2020 ◽  
Vol 370 ◽  
pp. 110901 ◽  
Author(s):  
Vineet Vajpayee ◽  
Victor Becerra ◽  
Nils Bausch ◽  
Jiamei Deng ◽  
S.R. Shimjith ◽  
...  
Keyword(s):  
Power Plant ◽  
Nuclear Power Plant ◽  
Nuclear Power ◽  
Dynamic Modelling ◽  
Control Design ◽  
Water Type ◽  
Pressurized Water ◽  
Simulation And Control ◽  
And Control ◽  
Modelling Simulation
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