A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot

Abstract 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-...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Ahmed S. Al-Araji, Noor Q. Yousif
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/f1ea792638e146cdac9c4869a8888592
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:f1ea792638e146cdac9c4869a8888592
record_format	dspace
spelling	oai:doaj.org-article:f1ea792638e146cdac9c4869a88885922021-12-02T07:16:40ZA Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot1818-11712312-0789https://doaj.org/article/f1ea792638e146cdac9c4869a88885922017-09-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/360https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Abstract 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. Keywords: Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots. Ahmed S. Al-ArajiNoor Q. YousifAl-Khwarizmi College of Engineering – University of BaghdadarticleBees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots.Chemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 13, Iss 3 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ahmed S. Al-Araji Noor Q. Yousif A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
description	Abstract 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. Keywords: Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots.
format	article
author	Ahmed S. Al-Araji Noor Q. Yousif
author_facet	Ahmed S. Al-Araji Noor Q. Yousif
author_sort	Ahmed S. Al-Araji
title	A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
title_short	A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
title_full	A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
title_fullStr	A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
title_full_unstemmed	A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
title_sort	cognitive hybrid tuning control algorithm design for nonlinear path-tracking controller for wheeled mobile robot
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/f1ea792638e146cdac9c4869a8888592
work_keys_str_mv	AT ahmedsalaraji acognitivehybridtuningcontrolalgorithmdesignfornonlinearpathtrackingcontrollerforwheeledmobilerobot AT noorqyousif acognitivehybridtuningcontrolalgorithmdesignfornonlinearpathtrackingcontrollerforwheeledmobilerobot AT ahmedsalaraji cognitivehybridtuningcontrolalgorithmdesignfornonlinearpathtrackingcontrollerforwheeledmobilerobot AT noorqyousif cognitivehybridtuningcontrolalgorithmdesignfornonlinearpathtrackingcontrollerforwheeledmobilerobot
_version_	1718399553418297344

A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot

Ejemplares similares