Anti-control of Chaos with Parametric Uncertainty for Non-holonomic Mobile Robot System via Feedback Linearization Controller

Anti-control of Chaos with Parametric Uncertainty for Non-holonomic Mobile Robot System via Feedback Linearization Controller

In this paper, feedback linearization controller has been designed for mobile robot system. In order to create chaos dynamic, anti-control of chaos is applied to convert a non-chaotic system to a chaotic system. To reduce energy and increase performance of the system, nonlinear system error tracking has been synchronized with chaotic gyroscope. The results of simulation has been shown the combination of feedback linearization control and anti-control of chaos have proved that using of these techniques leads to high efficiency of the proposed method even in the presence of parametric uncertainty. At the end, mean square error has been calculated and compared.