Precise Motion Control of Autonomous Robots

Abstract

In the case of the control synthesis of the autonomous robot precise motions in production processes, or autonomous micro/nano robot motions in drug delivery, one have to use a related Hamiltonian. It is assumed that the autonomous robot (or micro/nano robot) motions are in a multipotential field. In order to simplify control process, the concept of the external linearization is used. In that case, the nonlinear control in the closed loop with the nonlinear canonical differential equations of the autonomous robot (or micro/nano robot) motion is resulting in the linear behavior of the whole system. Therefore, the linear control algorithms can be applied. This is the main contribution of the paper. The control process is calculated in the combination of the electromagnetic and gravitational fields. In that case, the autonomous robot (or micro/nano robot) moves towards a target with limited information about the environment. The main point of these algorithms is to minimize the use of the outer perimeter of an obstacle, which also minimizes total path length taken by the autonomous robot (or micro/nano robot).