A global optimal control methodology and its application to a mobile robot model

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dc.authorid0000-0002-3234-281X
dc.contributor.authorDinçmen, Erkinen_US
dc.date.accessioned2016-12-27T09:02:17Z
dc.date.available2016-12-27T09:02:17Z
dc.date.issued2016
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Mechanical Engineeringen_US
dc.description.abstractA global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the robot. In other words, the control problem is to find the global extremum point when there are local extremas. The locations of the signal sources are unknown and it is assumed that the signal magnitudes are maximum at the sources and their magnitudes are decreasing away from the sources. The distribution characteristics of the signals are unknown, i.e. the gradients of the signal distribution functions are unknown. The control algorithm also doesn't need any position measurement of the robot itself. Only the signal magnitude should be measured via a sensor mounted on the robot. The simulation study shows the performance of the controller.en_US
dc.description.versionPublisher's Versionen_US
dc.identifier.citationDinçmen, E. (2016). A global optimal control methodology and its application to a mobile robot model. Paper presented at the IFAC-PapersOnLine, 49(21), 501-506. doi:10.1016/j.ifacol.2016.10.652en_US
dc.identifier.doi10.1016/j.ifacol.2016.10.652
dc.identifier.endpage506
dc.identifier.issn2405-8963
dc.identifier.issue21
dc.identifier.scopus2-s2.0-84995584244
dc.identifier.scopusqualityN/A
dc.identifier.startpage501
dc.identifier.urihttps://hdl.handle.net/11729/1161
dc.identifier.urihttp://dx.doi.org/10.1016/j.ifacol.2016.10.652
dc.identifier.volume49
dc.identifier.wosWOS:000401247700073
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakConference Proceedings Citation Index – Science (CPCI-S)en_US
dc.indekslendigikaynakConference Proceedings Citation Index – Social Science & Humanities (CPCI-SSH)en_US
dc.institutionauthorDinçmen, Erkinen_US
dc.institutionauthorid0000-0002-3234-281X
dc.language.isoenen_US
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.publisherElsevier B.V.en_US
dc.relation.ispartofIFAC-PapersOnLineen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectExtremum seekingen_US
dc.subjectGlobal optimizationen_US
dc.subjectMobile roboten_US
dc.subjectControl theoryen_US
dc.subjectDistribution functionsen_US
dc.subjectOptimizationen_US
dc.subjectDistribution characteristicsen_US
dc.subjectGlobal optimal controlen_US
dc.subjectOmnidirectional mobile roboten_US
dc.subjectOperation regionsen_US
dc.subjectSignal distributionen_US
dc.subjectSignal magnitudeen_US
dc.subjectSimulation studiesen_US
dc.subjectRobotsen_US
dc.titleA global optimal control methodology and its application to a mobile robot modelen_US
dc.typeConference Objecten_US
dspace.entity.typePublication

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