A cognitive hybrid tuning control algorithm design for nonlinear path-tracking controller for wheeled mobile robot
Other Title(s)
تصميم خوارزمية هجينة مدركة لتنغيم مسيطر لاخطي لتتابع مسار لعجلة الإنسان آلي متنقل
Joint Authors
Yusuf, Nur Qasim
al-Araji, Ahmad Sabah Abd al-Amir
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 13, Issue 3 (30 Sep. 2017), pp.64-73, 10 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2017-09-30
Country of Publication
Iraq
No. of Pages
10
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error.
The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers.
Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is more accurate in terms of fast on-line finding and tuning parameters of the controller lead to obtaining smoothness with small spikes control action as well as minimizing tracking pose error of the wheeled mobile robot than the performance of nonlinear back-stepping technique.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir& Yusuf, Nur Qasim. 2017. A cognitive hybrid tuning control algorithm design for nonlinear path-tracking controller for wheeled mobile robot. al-Khwarizmi Engineering Journal،Vol. 13, no. 3, pp.64-73.
https://search.emarefa.net/detail/BIM-767661
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir& Yusuf, Nur Qasim. A cognitive hybrid tuning control algorithm design for nonlinear path-tracking controller for wheeled mobile robot. al-Khwarizmi Engineering Journal Vol. 13, no. 3 (2017), pp.64-73.
https://search.emarefa.net/detail/BIM-767661
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir& Yusuf, Nur Qasim. A cognitive hybrid tuning control algorithm design for nonlinear path-tracking controller for wheeled mobile robot. al-Khwarizmi Engineering Journal. 2017. Vol. 13, no. 3, pp.64-73.
https://search.emarefa.net/detail/BIM-767661
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 71-72
Record ID
BIM-767661