Cognitive dynamic neural controller design for mobile robot based on self-tuning on-line optimization algorithm
Other Title(s)
تصميم مسيطر عصبي حركي مدرك لأنسان ألي مبني على أساس الخوارزمية الأمثلية ذات التنغيم الذاتي و بشكل حي متصل
Joint Authors
Sadiq, Basim Rim
al-Araji, Ahmad Sabah Abd al-Amir
Tawfiq, Muwaffaq Ali
Source
The Iraqi Journal for Mechanical and Materials Engineering
Issue
Vol. 16, Issue 3 (30 Sep. 2016), pp.215-228, 14 p.
Publisher
University of Babylon College of Engineering
Publication Date
2016-09-30
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Abstract EN
This paper presents the design of a cognitive dynamic neural controller (CDNC) for the trajectory tracking of non-holonomic wheeled mobile robot based on the dynamic model with self-tuning on-line optimization algorithm.
The aim of the proposed controller is to solve the trajectory tracking problem of the mobile robot by finding the optimal torque control action for the two wheels of mobile robot to follow a pre-defined continuous path precisely and quickly.
Particle swarm optimization (PSO) used as a fast and stable self-tuning on-line algorithm to compute the optimal parameters for the proposed controller .The robustness and effectiveness of the proposed tuning algorithm are validated by Matlab simulation results in terms of the capability of overcoming the non-representative dynamic disturbances, minimizing tracking error and obtaining the smooth and optimal torque control signals with minimum number of fitness evaluation.
American Psychological Association (APA)
Tawfiq, Muwaffaq Ali& al-Araji, Ahmad Sabah Abd al-Amir& Sadiq, Basim Rim. 2016. Cognitive dynamic neural controller design for mobile robot based on self-tuning on-line optimization algorithm. The Iraqi Journal for Mechanical and Materials Engineering،Vol. 16, no. 3, pp.215-228.
https://search.emarefa.net/detail/BIM-779518
Modern Language Association (MLA)
Tawfiq, Muwaffaq Ali…[et al.]. Cognitive dynamic neural controller design for mobile robot based on self-tuning on-line optimization algorithm. The Iraqi Journal for Mechanical and Materials Engineering Vol. 16, no. 3 (2016), pp.215-228.
https://search.emarefa.net/detail/BIM-779518
American Medical Association (AMA)
Tawfiq, Muwaffaq Ali& al-Araji, Ahmad Sabah Abd al-Amir& Sadiq, Basim Rim. Cognitive dynamic neural controller design for mobile robot based on self-tuning on-line optimization algorithm. The Iraqi Journal for Mechanical and Materials Engineering. 2016. Vol. 16, no. 3, pp.215-228.
https://search.emarefa.net/detail/BIM-779518
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 227-228
Record ID
BIM-779518