Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller

Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractio...

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Autores principales:	Mouwafak A. Tawfik, Emad N. Abdulwahb, Salah M. Swadi
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2014
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/a80d4ac2f7f44c4d808c5b538669419a
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spelling	oai:doaj.org-article:a80d4ac2f7f44c4d808c5b538669419a2021-12-02T03:53:49ZTrajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller1818-11712312-0789https://doaj.org/article/a80d4ac2f7f44c4d808c5b538669419a2014-09-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/459https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order PIaDb (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of mobile robot was driven for the case where the centroid of mobile robot platform is not coincide with reference frame of mobile robot (i.e. reference frame is located at midpoint of driven wheels axis), while the inertia is counted for. The Evolutionary Algorithm has been used to modified the parameters (Kp, Kd, Ki,a, and b) of the FOPID controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm: that is demonstrated by applied this controller at four case studies (Circular trajectory, S-shape trajectory, Infinity trajectory, and Line trajectory at two cases, with presences of disturbance and without), these results shows good matching between desired trajectory and simulation one while error in posture goes to zero rapidly. Mouwafak A. TawfikEmad N. AbdulwahbSalah M. SwadiAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 10, Iss 3 (2014)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Mouwafak A. Tawfik Emad N. Abdulwahb Salah M. Swadi Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
description	Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order PIaDb (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of mobile robot was driven for the case where the centroid of mobile robot platform is not coincide with reference frame of mobile robot (i.e. reference frame is located at midpoint of driven wheels axis), while the inertia is counted for. The Evolutionary Algorithm has been used to modified the parameters (Kp, Kd, Ki,a, and b) of the FOPID controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm: that is demonstrated by applied this controller at four case studies (Circular trajectory, S-shape trajectory, Infinity trajectory, and Line trajectory at two cases, with presences of disturbance and without), these results shows good matching between desired trajectory and simulation one while error in posture goes to zero rapidly.
format	article
author	Mouwafak A. Tawfik Emad N. Abdulwahb Salah M. Swadi
author_facet	Mouwafak A. Tawfik Emad N. Abdulwahb Salah M. Swadi
author_sort	Mouwafak A. Tawfik
title	Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
title_short	Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
title_full	Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
title_fullStr	Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
title_full_unstemmed	Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
title_sort	trajectory tracking control for a wheeled mobile robot using fractional order piadb controller
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2014
url	https://doaj.org/article/a80d4ac2f7f44c4d808c5b538669419a
work_keys_str_mv	AT mouwafakatawfik trajectorytrackingcontrolforawheeledmobilerobotusingfractionalorderpiadbcontroller AT emadnabdulwahb trajectorytrackingcontrolforawheeledmobilerobotusingfractionalorderpiadbcontroller AT salahmswadi trajectorytrackingcontrolforawheeledmobilerobotusingfractionalorderpiadbcontroller
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Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller

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