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Energy Saving Control Approach for Trajectory Tracking of Autonomous Mobile Robots

Yung-Hsiang Chen1, Yung-Yue Chen2, Shi-Jer Lou3, Chiou-Jye Huang4,*

1 Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung, 912301, Taiwan
2 Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, 701401, Taiwan
3 Center for Teacher Education Program, National Pingtung University of Science and Technology, Pingtung, 912301, Taiwan
4 Department of Data Science and Big Data Analytics, Providence University, Taichung, 43301, Taiwan

* Corresponding Author: Chiou-Jye Huang. Email: email

Intelligent Automation & Soft Computing 2022, 31(1), 357-372.


This research presents an adaptive energy-saving H2 closed-form control approach to solve the nonlinear trajectory tracking problem of autonomous mobile robots (AMRs). The main contributions of this proposed design are as follows: closed-form approach, simple structure of the control law, easy implementation, and energy savings through trajectory tracking design of the controlled AMRs. It is difficult to mathematically obtained this adaptive H2 closed-form solution of AMRs. Therefore, through a series of mathematical analyses of the trajectory tracking error dynamics of the controlled AMRs, the trajectory tracking problem of AMRs can be transformed directly into a solvable problem, and an adaptive nonlinear optimal controller, which has an extremely simple form and energy-saving properties, can be found. Finally, two test trajectories, namely circular and S-shaped reference trajectories, are adopted to verify the control performance of the proposed adaptive H2 closed-form control approach with respect to an investigated H2 closed-form control design.


Cite This Article

Y. Chen, Y. Chen, S. Lou and C. Huang, "Energy saving control approach for trajectory tracking of autonomous mobile robots," Intelligent Automation & Soft Computing, vol. 31, no.1, pp. 357–372, 2022.

cc This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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