Open Access

ARTICLE

Energy Saving Control Approach for Trajectory Tracking of Autonomous Mobile Robots

by Yung-Hsiang Chen¹, Yung-Yue Chen², Shi-Jer Lou³, Chiou-Jye Huang^4,*

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:

Intelligent Automation & Soft Computing 2022, 31(1), 357-372. https://doi.org/10.32604/iasc.2022.018663

Received 16 March 2021; Accepted 26 April 2021; Issue published 03 September 2021

Abstract

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.

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Keywords

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