Репозиторий научных и учебно-методических публикаций
Северо-Кавказский федеральный университет
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https://dspace.ncfu.ru/handle/123456789/33019| Title: | Comparative Analysis of Motion Control Algorithms for a Mobile Robot Tracking a Given Trajectory |
| Authors: | Martirosyan, K. V. Мартиросян, К. В. |
| Keywords: | Lyapunov methods;Trajectory tracking;Mobile robot;Motion control;MPC;Neural networks |
| Issue Date: | 2026 |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Citation: | Ampleev D. D., Kuyukova V. N., Martirosyan K. V. Comparative Analysis of Motion Control Algorithms for a Mobile Robot Tracking a Given Trajectory // Proceedings of the 2026 ElCon Conference of Young Researchers in Electrical Engineering, Automation and Control Systems, ElCon-EE 2026. - 2026. - pp. 240 - 249. - DOI: 10.1109/ElCon-EE69794.2026.11452814 |
| Series/Report no.: | Proceedings of the 2026 ElCon Conference of Young Researchers in Electrical Engineering, Automation and Control Systems, ElCon-EE 2026 |
| Abstract: | This article discusses a comparative analysis of motion control algorithms for a mobile robot tracking a given trajectory. Developing a mathematical model of the robot and investigating the effectiveness of regulators: a Lyapunov-based controller, an MPC controller, and a neural network-based regulator. Conducting computer simulations with these controllers, as well as analyzing their performance based on key criteria such as trajectory tracking accuracy, computational complexity, and resistance to disturbances. |
| URI: | https://dspace.ncfu.ru/handle/123456789/33019 |
| Appears in Collections: | Статьи, проиндексированные в SCOPUS, WOS |
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| File | Size | Format | |
|---|---|---|---|
| scopusresults 4015.pdf Restricted Access | 127.35 kB | Adobe PDF | View/Open |
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