Abstract
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.
Highlights
The most invitingly type of mobile robots are the wheeled mobile robot (WMR) due to their capability for fast maneuver and effective control approaches [1]
The magnitude of gain (K1) that including (k1, k2, k3) that computed from Type-1 fuzzy logic control (T1FLC) based on particle swarm optimization (PSO) are: K1=⌈ are computed from PSO are
A hybrid controller consisting of Backstepping controller (BSC)-T1FLC-PSO controller for trajectory tracking of four mecanum wheeled mobile robot (FMWMR) has been presented
Summary
The most invitingly type of mobile robots are the wheeled mobile robot (WMR) due to their capability for fast maneuver and effective control approaches [1]. In [4], backstepping controller was used for the trajectory tracking of FMWMR. In [5], a nonlinear PID controller used for the tracking of non-holonomic WMR. In [7], Fractional order PID controller based on modified PSO was adopted as a control system for tracking of non-holonomic WMR while in [8], BSC was used as a controller action of Publishing rights belongs to University of Technology’s Press, Baghdad, Iraq. LQR controller was Implemented for the tracking of FMWMR, and its results compared with PI controller [9]. Two controllers had been adopted for FMWMR tracking which are PID and LQR controllers [11]. Hybrid controller design consist of BSC-T1FLC-PSO have been used for the tracking of FMWMR. The results show that there is a good matching between the desired and simulation tracking
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