@Article{iasc.2022.018663,
AUTHOR = {Yung-Hsiang Chen, Yung-Yue Chen, Shi-Jer Lou, Chiou-Jye Huang},
TITLE = {Energy Saving Control Approach for Trajectory Tracking of Autonomous Mobile Robots},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {31},
YEAR = {2022},
NUMBER = {1},
PAGES = {357--372},
URL = {http://www.techscience.com/iasc/v31n1/44294},
ISSN = {2326-005X},
ABSTRACT = {This research presents an adaptive energy-saving <i>H</i><sub>2</sub> 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 <i>H</i><sub>2</sub> 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 <i>H</i><sub>2</sub> closed-form control approach with respect to an investigated <i>H</i><sub>2</sub> closed-form control design.},
DOI = {10.32604/iasc.2022.018663}
}