A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model
This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonline...
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| Format: | Article |
| Language: | English |
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University of Baghdad
2023-07-01
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| Series: | Journal of Engineering |
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| Online Access: | https://joe.uobaghdad.edu.iq/index.php/main/article/view/2143 |
| _version_ | 1827903876246798336 |
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| author | Ahmed Sabah Al-Araji |
| author_facet | Ahmed Sabah Al-Araji |
| author_sort | Ahmed Sabah Al-Araji |
| collection | DOAJ |
| description |
This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonlinear PID neural controller's parameters to find the best velocities control actions of the right wheel and left wheel for the real mobile robot. Polywog wavelet activation function is used in the structure of the nonlinear PID neural controller. Simulation results (Matlab) and experimental work (LabVIEW) show that the proposed nonlinear PID controller with PSO
learning algorithm is more effective and robust than genetic learning algorithm; this is demonstrated by the minimized tracking error and obtained smoothness of the velocity control signal, especially when external disturbances are applied.
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| first_indexed | 2024-03-13T00:18:50Z |
| format | Article |
| id | doaj.art-de83ed78cd9e403a90ef6e61c0633d2b |
| institution | Directory Open Access Journal |
| issn | 1726-4073 2520-3339 |
| language | English |
| last_indexed | 2024-03-13T00:18:50Z |
| publishDate | 2023-07-01 |
| publisher | University of Baghdad |
| record_format | Article |
| series | Journal of Engineering |
| spelling | doaj.art-de83ed78cd9e403a90ef6e61c0633d2b2023-07-11T18:34:18ZengUniversity of BaghdadJournal of Engineering1726-40732520-33392023-07-01200510.31026/j.eng.2014.05.03A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot ModelAhmed Sabah Al-Araji This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonlinear PID neural controller's parameters to find the best velocities control actions of the right wheel and left wheel for the real mobile robot. Polywog wavelet activation function is used in the structure of the nonlinear PID neural controller. Simulation results (Matlab) and experimental work (LabVIEW) show that the proposed nonlinear PID controller with PSO learning algorithm is more effective and robust than genetic learning algorithm; this is demonstrated by the minimized tracking error and obtained smoothness of the velocity control signal, especially when external disturbances are applied. https://joe.uobaghdad.edu.iq/index.php/main/article/view/2143genetic algorithm, particle swarm optimization, nonlinear PID controller, NI mobile robots, trajectory tracking. |
| spellingShingle | Ahmed Sabah Al-Araji A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model Journal of Engineering genetic algorithm, particle swarm optimization, nonlinear PID controller, NI mobile robots, trajectory tracking. |
| title | A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model |
| title_full | A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model |
| title_fullStr | A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model |
| title_full_unstemmed | A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model |
| title_short | A Comparative Study of Various Intelligent Algorithms Based Nonlinear PID Neural Trajectory Tracking Controller for the Differential Wheeled Mobile Robot Model |
| title_sort | comparative study of various intelligent algorithms based nonlinear pid neural trajectory tracking controller for the differential wheeled mobile robot model |
| topic | genetic algorithm, particle swarm optimization, nonlinear PID controller, NI mobile robots, trajectory tracking. |
| url | https://joe.uobaghdad.edu.iq/index.php/main/article/view/2143 |
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