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Control of the Kinematic model

We are based on the procedure proposed by Kanayama et al. [1] and Nelson et al. [20] to solve the tracking problem for the kinematic model vdt). Suppose that the desired trajectory qa satisfies (5.5)  [Pg.22]

Using the robot local frame (the moving coordinate systan x-y in Fig. 5.2), the error coordinates can be defined as (5.6)  [Pg.23]

And the auxiliary velocity control input that achieves tracking for (5.1) is given by (5.7)  [Pg.23]

The first approach in the optimization for the fuzzy controller of the mobile robot is to apply our proposed method to obtain the values of fe, (i = 1, 2, 3) for optimal behavior of the controller. [Pg.24]

Once we have found these gain constraints, the second step is to find the values of the membership functions of the fuzzy controller. [Pg.24]


See other pages where Control of the Kinematic model is mentioned: [Pg.22]   


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