Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels
This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have been derived. Backstepping controller (BSC) i...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2021-05-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_169341_186b11a32b04272d84afdd403b00ea87.pdf |
| _version_ | 1797336441038045184 |
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| author | Sameh Hasana Hasan Alwan |
| author_facet | Sameh Hasana Hasan Alwan |
| author_sort | Sameh Hasana |
| collection | DOAJ |
| description | This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have been derived. Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC. Square trajectory has been selected to test the performance of the control system of FMWMR. MATLAB/ Simulink is used to simulate the results. It has been concluded from the results that obtained from this control system there is a good matching between the simulated and the desired trajectories. |
| first_indexed | 2024-03-08T08:54:30Z |
| format | Article |
| id | doaj.art-7c0c8a4b5da74fd18865f080d080927d |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T08:54:30Z |
| publishDate | 2021-05-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-7c0c8a4b5da74fd18865f080d080927d2024-02-01T07:17:44ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582021-05-01395A77978910.30684/etj.v39i5A.1926169341Modeling and Control of Wheeled Mobile Robot With Four Mecanum WheelsSameh Hasana0Hasan Alwan1University of Technology - IraqUniversity of Technology - IraqThis work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have been derived. Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC. Square trajectory has been selected to test the performance of the control system of FMWMR. MATLAB/ Simulink is used to simulate the results. It has been concluded from the results that obtained from this control system there is a good matching between the simulated and the desired trajectories.https://etj.uotechnology.edu.iq/article_169341_186b11a32b04272d84afdd403b00ea87.pdffmwmrcontrolback steppingfuzzy logictrajectory trackingpso |
| spellingShingle | Sameh Hasana Hasan Alwan Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels Engineering and Technology Journal fmwmr control back stepping fuzzy logic trajectory tracking pso |
| title | Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels |
| title_full | Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels |
| title_fullStr | Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels |
| title_full_unstemmed | Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels |
| title_short | Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels |
| title_sort | modeling and control of wheeled mobile robot with four mecanum wheels |
| topic | fmwmr control back stepping fuzzy logic trajectory tracking pso |
| url | https://etj.uotechnology.edu.iq/article_169341_186b11a32b04272d84afdd403b00ea87.pdf |
| work_keys_str_mv | AT samehhasana modelingandcontrolofwheeledmobilerobotwithfourmecanumwheels AT hasanalwan modelingandcontrolofwheeledmobilerobotwithfourmecanumwheels |