A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm
The aim of the work for this paper is a comparative study of different types of on-line cognitive algorithms for the proposed nonlinear controller of the trajectory tracking for dynamic wheeled mobile robot that has a capability to track a continuous desired path. Three optimization algorithms are u...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2017-06-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_131978_b0f95eef1a9ac86b58f68b4291e88151.pdf |
| Summary: | The aim of the work for this paper is a comparative study of different types of on-line cognitive algorithms for the proposed nonlinear controller of the trajectory tracking for dynamic wheeled mobile robot that has a capability to track a continuous desired path. Three optimization algorithms are used (Bees, PSO and proposed hybrid Bees-PSO) in order to find and tune the values of the control gains of the neural controller as simple on-line with fast tuning techniques. The best torques control actions of the right wheel and left wheel for the cart mobile robot are generated on-line from the proposed controller. Simulation results (Matlab Package) show that the proposed 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; obtaining smoothness control action as well as minimizing tracking error of the wheeled mobile robot than PSO or Bees optimization algorithms. |
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| ISSN: | 1681-6900 2412-0758 |