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Modeling and control of wheeled mobile robot with four mecanum wheels
المؤلفون المشاركون
Hasanah, Samih F.
Ulwan, Hasan Muhammad
المصدر
Engineering and Technology Journal
العدد
المجلد 39، العدد 5A (31 مايو/أيار 2021)، ص ص. 779-789، 11ص.
الناشر
تاريخ النشر
2021-05-31
دولة النشر
العراق
عدد الصفحات
11
التخصصات الرئيسية
تكنولوجيا المعلومات وعلم الحاسوب
الموضوعات
الملخص EN
This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR).
The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.
e.
, (BSC-T1FLC-PSO).
The kinematic and dynamic models have been derived.
Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC.
Square trajectory has been selected to test the performance of the control system of FMWMR.
MATLAB/ Simulink is used to simulate the results.
It has been concluded from the results that obtained from this control system there is a good matching between the simulated and the desired This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR).
The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.
e.
, (BSC-T1FLC-PSO).
The kinematic and dynamic models have been derived.
Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC.
Square trajectory has been selected to test the performance of the control system of FMWMR.
MATLAB/ Simulink is used to simulate the results.
It has been concluded from the results that obtained from this control system there is a good matching between the simulated and the desired trajectories.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Hasanah, Samih F.& Ulwan, Hasan Muhammad. 2021. Modeling and control of wheeled mobile robot with four mecanum wheels. Engineering and Technology Journal،Vol. 39, no. 5A, pp.779-789.
https://search.emarefa.net/detail/BIM-1282602
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Hasanah, Samih F.& Ulwan, Hasan Muhammad. Modeling and control of wheeled mobile robot with four mecanum wheels. Engineering and Technology Journal Vol. 39, no. 5A (2021), pp.779-789.
https://search.emarefa.net/detail/BIM-1282602
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Hasanah, Samih F.& Ulwan, Hasan Muhammad. Modeling and control of wheeled mobile robot with four mecanum wheels. Engineering and Technology Journal. 2021. Vol. 39, no. 5A, pp.779-789.
https://search.emarefa.net/detail/BIM-1282602
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references : p. 789
رقم السجل
BIM-1282602
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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