Control of the Chaotic Phenomenon in Robot Path using Differential Flatness

Salah Nasr, Amine Abadi, Kais Bouallegue, Hassen Mekki

Abstract

This paper deals with the complex chaotic behavior that can appear in the dynamic trajectory of a mobile robot, when the robot is broken or partly damaged. However, a flatness-based controller is designed to ensure the trajectory planning and tracking. Different mathematical tools have been used such as the flatness control technique and non linear chaotic systems. The simulation results for the kinematic controller are presented to demonstrate the effectiveness of this approach.

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Paper Citation


in Harvard Style

Nasr S. and Mekki H. (2018). Control of the Chaotic Phenomenon in Robot Path using Differential Flatness.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 237-243. DOI: 10.5220/0006828302370243


in Bibtex Style

@conference{icinco18,
author={Salah Nasr and Hassen Mekki},
title={Control of the Chaotic Phenomenon in Robot Path using Differential Flatness},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={237-243},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006828302370243},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Control of the Chaotic Phenomenon in Robot Path using Differential Flatness
SN - 978-989-758-321-6
AU - Nasr S.
AU - Mekki H.
PY - 2018
SP - 237
EP - 243
DO - 10.5220/0006828302370243