Reduction ofControl Torques ofMobile Robot Using Hybrid NonlinearPosition Controller
We havepreviously developed amobile robot position controller basedonbackstepping control algorithm. In thispaper,we proposetheextention ofmentioned controller withanaimtorapidly decrease thecontrol torques neededtoachive thedesired position andorientation of mobile robot. Theparameters ofthis controller areadjusted bygenetic algorithm. Thesamegenetic algorithm wasused forevolution ofthecontrol parameters ofamultivariable PI velocity controller described witha fullmatrix. The performance oftheproposed systemisinvestigated using a dynamic modelofanonholonomic mobile robot withfriction. Simulation results showthegoodquality ofbothvelocity and position tracking capabilities ofamobile robot. 1~~~~~~. EUROCON2005