Control of the Chaotic Phenomenon in Robot Path using Differential Flatness

Salah Nasr; Amine Abadi; Kais Bouallegue; Hassen Mekki

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Paper

Control of the Chaotic Phenomenon in Robot Path using Differential Flatness

Topics: Control and Supervision Systems; Engineering Applications on Robotics and Automation; Mobile Robots and Autonomous Systems

In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 237-243, 2018 , Porto, Portugal

Authors: Salah Nasr ¹ ; Amine Abadi ¹ ; Kais Bouallegue ² and Hassen Mekki ¹

Affiliations: ¹ Laboratory of Networked Objects Control and Communication Systems, National Engineering School of Sousse, University of Sousse and Tunisia ; ² Department of Electrical Engineering, Higher Institute of Applied Sciences and Technology of Sousse and Tunisia

Keyword(s): Chaotic Phenomenon, Mobile Robot, Flatness Control, Chaos Theory.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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 several formats:

Nasr, S.; Abadi, A.; Bouallegue, K. 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; ISSN 2184-2809, SciTePress, pages 237-243. DOI: 10.5220/0006828302370243

@conference{icinco18,
author={Salah Nasr. and Amine Abadi. and Kais Bouallegue. 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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Nasr, S.
AU - Abadi, A.
AU - Bouallegue, K.
AU - Mekki, H.
PY - 2018
SP - 237
EP - 243
DO - 10.5220/0006828302370243
PB - SciTePress