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: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2017-06-01
|
| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_131978_b0f95eef1a9ac86b58f68b4291e88151.pdf |
| _version_ | 1797325940408188928 |
|---|---|
| author | A.S. Al-Araji N.Q. Yousif |
| author_facet | A.S. Al-Araji N.Q. Yousif |
| author_sort | A.S. Al-Araji |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T06:16:30Z |
| format | Article |
| id | doaj.art-76e728ac5f7641b4895e3737399fb03f |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:16:30Z |
| publishDate | 2017-06-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-76e728ac5f7641b4895e3737399fb03f2024-02-04T17:19:38ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582017-06-01356A60961610.30684/etj.2017.131978131978A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO AlgorithmA.S. Al-ArajiN.Q. YousifThe 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.https://etj.uotechnology.edu.iq/article_131978_b0f95eef1a9ac86b58f68b4291e88151.pdfwheeled mobile robotsnonlinear controllerbees algorithmparticle swarm optimizationmatlab package |
| spellingShingle | A.S. Al-Araji N.Q. Yousif A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm Engineering and Technology Journal wheeled mobile robots nonlinear controller bees algorithm particle swarm optimization matlab package |
| title | A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm |
| title_full | A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm |
| title_fullStr | A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm |
| title_full_unstemmed | A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm |
| title_short | A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm |
| title_sort | cognitive nonlinear trajectory tracking controller design for wheeled mobile robot based on hybrid bees pso algorithm |
| topic | wheeled mobile robots nonlinear controller bees algorithm particle swarm optimization matlab package |
| url | https://etj.uotechnology.edu.iq/article_131978_b0f95eef1a9ac86b58f68b4291e88151.pdf |
| work_keys_str_mv | AT asalaraji acognitivenonlineartrajectorytrackingcontrollerdesignforwheeledmobilerobotbasedonhybridbeespsoalgorithm AT nqyousif acognitivenonlineartrajectorytrackingcontrollerdesignforwheeledmobilerobotbasedonhybridbeespsoalgorithm AT asalaraji cognitivenonlineartrajectorytrackingcontrollerdesignforwheeledmobilerobotbasedonhybridbeespsoalgorithm AT nqyousif cognitivenonlineartrajectorytrackingcontrollerdesignforwheeledmobilerobotbasedonhybridbeespsoalgorithm |