Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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IDENTIFICATION CONTROL SYNTHESIS FOR MOBILE ROBOT BY METHOD OF NETWORK OPERATOR

Dang T.P. 1 Diveev A.I. 2 Kazaryan D.E. 1 Sofronova E.A. 1
1 Peoples’ Friendship University of Russia
2 Institution of Russian Academy of Sciences Dorodnicyn Computing Centre of RAS
A problem of identification control synthesis for mobile robot. Initially, we identify mathematical model of mobile robot in the form of ODE using method of network operator. We use given control as a time function and state of the object obtained from the experiment. When mathematical model is found we solve the problem control system synthesis also using method of network operator. Synthesized control system should guarantee movement of robot over the given trajectory which differs from the experimental one. An example of identification control synthesis for mobile robot Lego NXT is given. The search of the optimal solution in both problems was done by genetic algorithm based on the principle of basis solution variation.