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Optimal trajectory tracking control for a wheeled mobile robot using fractional order PID controller
Joint Authors
Klim, Sahar Mahdi
Salih, Amir L.
Husayn, Maab Ala
Source
Journal of University of Babylon for Engineering Sciences
Issue
Vol. 26, Issue 4 (30 Apr. 2018), pp.292-306, 15 p.
Publisher
Publication Date
2018-04-30
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Abstract EN
This paper present an optimal Fractional Order PID (FOPID) controller based on Particle Swarm Optimization (PSO) for controlling the trajectory tracking of Wheeled Mobile Robot(WMR).The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are usedfor velocity control and azimuth control to implement the trajectory tracking control.
A path planning and path tracking methodologies are used to give different desired tracking trajectories.
PSO algorithm is usingto find the optimal parameters of FOPID controllers.
The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab.
Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.
American Psychological Association (APA)
Salih, Amir L.& Husayn, Maab Ala& Klim, Sahar Mahdi. 2018. Optimal trajectory tracking control for a wheeled mobile robot using fractional order PID controller. Journal of University of Babylon for Engineering Sciences،Vol. 26, no. 4, pp.292-306.
https://search.emarefa.net/detail/BIM-930922
Modern Language Association (MLA)
Salih, Amir L.…[et al.]. Optimal trajectory tracking control for a wheeled mobile robot using fractional order PID controller. Journal of University of Babylon for Engineering Sciences Vol. 26, no. 4 (2018), pp.292-306.
https://search.emarefa.net/detail/BIM-930922
American Medical Association (AMA)
Salih, Amir L.& Husayn, Maab Ala& Klim, Sahar Mahdi. Optimal trajectory tracking control for a wheeled mobile robot using fractional order PID controller. Journal of University of Babylon for Engineering Sciences. 2018. Vol. 26, no. 4, pp.292-306.
https://search.emarefa.net/detail/BIM-930922
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 305-306
Record ID
BIM-930922