Control of Autonomous Wheeled Mobile Robot
Salah Swadi
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Control of Autonomous Wheeled Mobile Robot

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This book presents a study of two major different types of nonholonomic mobile robot (MR) problems. Different solutions for these problems are proposed. The first problem is the trajectory tracking of nonholonomic MR. In this part, two different types of controller's are designed based on the optimization method (i.e., EA), Which are Fractional Order PID (FOPID) controller and Fuzzy-Backstepping controller. The second problem is the trajectory generation of nonholonomic MR. In this part, an Arnold modified chaotic system, based on the trigonometric functions is proposed.This system is used to ...