Motion control of an autonomous mobile robot using modified particle swarm optimization based fractional order PID controller
Joint Authors
Ibrahim, Ghusn Abdul Redha
Ibrahim, Ibrahim Qasim
Source
Engineering and Technology Journal
Issue
Vol. 34, Issue 13A (31 Dec. 2016), pp.2406-2419, 14 p.
Publisher
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR).
A modified particle swarm optimization (MPSO) has been proposed in this work to tune the parameters of the nonlinear FOPID controller to design the controller so that the 2-WMR follows exactly a predefined continuous track.
The kinematic model of a differential drive 2-WMR has been derived to simulate the behavior of the 2-WMR and it is used in the design and simulations of the proposed FOPID controller.
From simulation and results, it can be seen that the efficiency of the proposed nonlinear FOPID controller outperforms the nonlinear integer order PID controller; this is proved by the minimized tracking error and the speed control signals obtained.
American Psychological Association (APA)
Ibrahim, Ibrahim Qasim& Ibrahim, Ghusn Abdul Redha. 2016. Motion control of an autonomous mobile robot using modified particle swarm optimization based fractional order PID controller. Engineering and Technology Journal،Vol. 34, no. 13A, pp.2406-2419.
https://search.emarefa.net/detail/BIM-760777
Modern Language Association (MLA)
Ibrahim, Ibrahim Qasim& Ibrahim, Ghusn Abdul Redha. Motion control of an autonomous mobile robot using modified particle swarm optimization based fractional order PID controller. Engineering and Technology Journal Vol. 34, no. 13A (2016), pp.2406-2419.
https://search.emarefa.net/detail/BIM-760777
American Medical Association (AMA)
Ibrahim, Ibrahim Qasim& Ibrahim, Ghusn Abdul Redha. Motion control of an autonomous mobile robot using modified particle swarm optimization based fractional order PID controller. Engineering and Technology Journal. 2016. Vol. 34, no. 13A, pp.2406-2419.
https://search.emarefa.net/detail/BIM-760777
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 2418-2419
Record ID
BIM-760777