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Abstract and Applied Analysis
Volume 2012, Article ID 854140, 14 pages
Research Article

Energy Reduction with Anticontrol of Chaos for Nonholonomic Mobile Robot System

1Department of Electrical Engineering, Imam Khomeini International University, Qazvin 34149-16818, Iran
2Department of Mechatronics Engineering, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran 19697, Iran

Received 18 June 2012; Accepted 7 September 2012

Academic Editor: Jinhu Lü

Copyright © 2012 Zahra Yaghoubi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents energy reduction with anticontrol of chaos for nonholonomic mobile robot system. Anticontrol of chaos is also called chaotification, meaning to chaotify an originally non-chaotic system, and in this paper error of mobile robot system has been synchronized with chaotic gyroscope for reducing energy and increasing performance. The benefits of chaos synchronization with mechanical systems have led us to an innovation in this paper. The main purpose is that the control system in the presence of chaos work with lower control cost and control effort has been reduced. For comparison of proposed method, the feedback linearization controller has also been designed for mobile robot with noise. Finally, the efficacies of the proposed method have been illustrated by simulations, energy of control signals has been calculated, and effect of Alpha ( : a constant coefficient is used beside of chaotic system) variations on the energy of control signals has been checked.