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A Discontinuous Control of a Nonholonomic Wheeled Mobile Robot
Sam Chau Duong,Hiroshi Kinjo,Eiho Uezato,Tetsuhiko Yamamoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
As is well known, the class of nonholonomic systems can not be asymptotically stabilized using continuous static state feedback controls. In this paper a discontinuous control system is proposed for a wheeled mobile robot which is known as a nonholonomic system. The parameters of the controller, which are defined in the form of a step function, are optimized by genetic algorithm(GA). In order to make the problem more feasible, constraints are applied to the system velocities and position. Simulation results with different initial system configurations show that the controller could generate piece wise continuous inputs to control the system effectively with in the given constraints.
Hiroshi Kinjo,Kunihiko Nakazono,Kohei Ohnishi,Tetsuhiko Yamamoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The rotary crane is known to be a class of nonholonomic systems which is hard to control by classical methods. The crane system has inherently nonlinear characteristics. In this paper, we propose a feedback controller with an embeded nonlinear compensator for the rotary crane system. For the nonlinear compensation, we use a hyperbolic fuction and some coefficients. Determinations of the feedback gains and the compensator coefficients are difficult. In this paper, we apply GA optimization to determine the sets of parameters of the controller.