Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller
This paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR). A modified particle swarm o...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2016-12-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_123658_bb928ff5d4555037c1b49c46eb1147d4.pdf |
| _version_ | 1827358760974155776 |
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| author | Ibraheem K. Ibraheem Ghusn A. Ibraheem |
| author_facet | Ibraheem K. Ibraheem Ghusn A. Ibraheem |
| author_sort | Ibraheem K. Ibraheem |
| collection | DOAJ |
| description | This paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR). A modified particle swarm optimization (MPSO) has been proposed in this work to tune the parameters of the nonlinear FOPID controller to design the controller so that the 2-WMR follows exactly a predefined continuous track. The kinematic model of a differential drive 2-WMR has been derived to simulate the behavior of the 2-WMR and it is used in the design and simulations of the proposed FOPID controller. From simulation and results, it can be seen that the efficiency of the proposed nonlinear FOPID controller outperforms the nonlinear integer order PID controller; this is proved by the minimized tracking error and the speed control signals obtained. |
| first_indexed | 2024-03-08T06:15:51Z |
| format | Article |
| id | doaj.art-c0fe4cb32710402cb3c7e3e9b0d367aa |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:15:51Z |
| publishDate | 2016-12-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-c0fe4cb32710402cb3c7e3e9b0d367aa2024-02-04T17:27:54ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582016-12-013413A2406241910.30684/etj.34.13A.4123658Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID ControllerIbraheem K. IbraheemGhusn A. IbraheemThis paper presents a comparison between two nonlinear PID controllers, the first is the Neural based controller and the second is the nonlinear fractional order PID controller (FOPID) for a trajectory tracking control of a non-holonomic two wheeled mobile robots (2-WMR). A modified particle swarm optimization (MPSO) has been proposed in this work to tune the parameters of the nonlinear FOPID controller to design the controller so that the 2-WMR follows exactly a predefined continuous track. The kinematic model of a differential drive 2-WMR has been derived to simulate the behavior of the 2-WMR and it is used in the design and simulations of the proposed FOPID controller. From simulation and results, it can be seen that the efficiency of the proposed nonlinear FOPID controller outperforms the nonlinear integer order PID controller; this is proved by the minimized tracking error and the speed control signals obtained.https://etj.uotechnology.edu.iq/article_123658_bb928ff5d4555037c1b49c46eb1147d4.pdftwo wheel mobile robottrajectory trackingnonholonomic systemsfactional order piparticle swarm optimization |
| spellingShingle | Ibraheem K. Ibraheem Ghusn A. Ibraheem Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller Engineering and Technology Journal two wheel mobile robot trajectory tracking non holonomic systems factional order pi particle swarm optimization |
| title | Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller |
| title_full | Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller |
| title_fullStr | Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller |
| title_full_unstemmed | Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller |
| title_short | Motion Control of An Autonomous Mobile Robot using Modified Particle Swarm Optimization Based Fractional Order PID Controller |
| title_sort | motion control of an autonomous mobile robot using modified particle swarm optimization based fractional order pid controller |
| topic | two wheel mobile robot trajectory tracking non holonomic systems factional order pi particle swarm optimization |
| url | https://etj.uotechnology.edu.iq/article_123658_bb928ff5d4555037c1b49c46eb1147d4.pdf |
| work_keys_str_mv | AT ibraheemkibraheem motioncontrolofanautonomousmobilerobotusingmodifiedparticleswarmoptimizationbasedfractionalorderpidcontroller AT ghusnaibraheem motioncontrolofanautonomousmobilerobotusingmodifiedparticleswarmoptimizationbasedfractionalorderpidcontroller |