A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm
The main core of this paper is to design a trajectory tracking control algorithm for mobile robot using a cognitive PID neural controller based slice genetic optimization in order to follow a pre-defined a continuous path. Slice Genetic Optimization Algorithm (SGOA) is used to tune the cognitive PID...
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2015-01-01
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| Series: | Engineering and Technology Journal |
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| Online Access: | https://etj.uotechnology.edu.iq/article_101812_4975ad11f2727b11ccb7be7b518c1a89.pdf |
| _version_ | 1797325855522816000 |
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| author | Ahmed Sabah Al-Araji |
| author_facet | Ahmed Sabah Al-Araji |
| author_sort | Ahmed Sabah Al-Araji |
| collection | DOAJ |
| description | The main core of this paper is to design a trajectory tracking control algorithm for mobile robot using a cognitive PID neural controller based slice genetic optimization in order to follow a pre-defined a continuous path. Slice Genetic Optimization Algorithm (SGOA) is used to tune the cognitive PID neural controller's parameters in order to find best velocities control actions of the right wheel and left wheel for the mobile robot. Pollywog wavelet activation function is used in the structure of the cognitive PID neural controller. Simulation results and experimental work show the effectiveness of the proposed cognitive PID neural tuning control algorithm; This is demonstrated by the minimized tracking error and the smoothness of the velocity control signal obtained, especially with regards to the external disturbance attenuation problem. |
| first_indexed | 2024-03-08T06:15:22Z |
| format | Article |
| id | doaj.art-39914d728fa645ac83f2fd60dfd15911 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:15:22Z |
| publishDate | 2015-01-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-39914d728fa645ac83f2fd60dfd159112024-02-04T17:28:03ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582015-01-01331A20822210.30684/etj.33.1A.16101812A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic AlgorithmAhmed Sabah Al-ArajiThe main core of this paper is to design a trajectory tracking control algorithm for mobile robot using a cognitive PID neural controller based slice genetic optimization in order to follow a pre-defined a continuous path. Slice Genetic Optimization Algorithm (SGOA) is used to tune the cognitive PID neural controller's parameters in order to find best velocities control actions of the right wheel and left wheel for the mobile robot. Pollywog wavelet activation function is used in the structure of the cognitive PID neural controller. Simulation results and experimental work show the effectiveness of the proposed cognitive PID neural tuning control algorithm; This is demonstrated by the minimized tracking error and the smoothness of the velocity control signal obtained, especially with regards to the external disturbance attenuation problem.https://etj.uotechnology.edu.iq/article_101812_4975ad11f2727b11ccb7be7b518c1a89.pdfslice genetic algorithmcognitive pid controllermobile robotstrajectory tracking |
| spellingShingle | Ahmed Sabah Al-Araji A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm Engineering and Technology Journal slice genetic algorithm cognitive pid controller mobile robots trajectory tracking |
| title | A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm |
| title_full | A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm |
| title_fullStr | A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm |
| title_full_unstemmed | A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm |
| title_short | A Cognitive PID Neural Controller Design for Mobile Robot Based on Slice Genetic Algorithm |
| title_sort | cognitive pid neural controller design for mobile robot based on slice genetic algorithm |
| topic | slice genetic algorithm cognitive pid controller mobile robots trajectory tracking |
| url | https://etj.uotechnology.edu.iq/article_101812_4975ad11f2727b11ccb7be7b518c1a89.pdf |
| work_keys_str_mv | AT ahmedsabahalaraji acognitivepidneuralcontrollerdesignformobilerobotbasedonslicegeneticalgorithm AT ahmedsabahalaraji cognitivepidneuralcontrollerdesignformobilerobotbasedonslicegeneticalgorithm |