An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment

This paper presents a simulation study of hybrid control strategy to control the motion of wheeled mobile robot (WMR) in the restricted environment. The implementation of the robot path planning in restricted environments needs a suitable robust controller to avoid known/unknown disturbances and gua...

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Main Authors:	Ali, Mohammed A. H., Musa, Mailah, Wan Azhar, Wan Yusoff, Zamzuri, Hamedon, Zulkifli, Md. Yusof
Format:	Article
Language:	English
Published:	IARAS 2017
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/17732/ http://umpir.ump.edu.my/id/eprint/17732/ http://umpir.ump.edu.my/id/eprint/17732/1/An%20Intelligent%20Robust%20Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf

id	ump-17732
recordtype	eprints
spelling	ump-177322018-05-02T07:25:54Z http://umpir.ump.edu.my/id/eprint/17732/ An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof TS Manufactures This paper presents a simulation study of hybrid control strategy to control the motion of wheeled mobile robot (WMR) in the restricted environment. The implementation of the robot path planning in restricted environments needs a suitable robust controller to avoid known/unknown disturbances and guarantee zero track errors. A proportional derivative active force control (PDAFC) scheme is incorporated with artificial intelligent techniques, namely, fuzzy logic (FL) to effectively estimate the actual torque applied on the robot wheels. Several kinds of trajectories in the restricted environment with unexpected changes in their trajectory has been used to test the proposed control system. The simulation study was carried out using software interface (MATLAB / SIMULINK). The results demonstrate a better performance and higher capability of PDAFC controller for disturbance rejection in comparison with PD and AFC controllers. IARAS 2017 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/17732/1/An%20Intelligent%20Robust%20Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf Ali, Mohammed A. H. and Musa, Mailah and Wan Azhar, Wan Yusoff and Zamzuri, Hamedon and Zulkifli, Md. Yusof (2017) An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment. International Journal of Control Systems and Robotics, 2. pp. 6-11. ISSN 2367-8917 http://www.iaras.org/iaras/journals/caijcsr/an-intelligent-robust-control-of-wheeled-mobile-robot-in-restricted-environment
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
description	This paper presents a simulation study of hybrid control strategy to control the motion of wheeled mobile robot (WMR) in the restricted environment. The implementation of the robot path planning in restricted environments needs a suitable robust controller to avoid known/unknown disturbances and guarantee zero track errors. A proportional derivative active force control (PDAFC) scheme is incorporated with artificial intelligent techniques, namely, fuzzy logic (FL) to effectively estimate the actual torque applied on the robot wheels. Several kinds of trajectories in the restricted environment with unexpected changes in their trajectory has been used to test the proposed control system. The simulation study was carried out using software interface (MATLAB / SIMULINK). The results demonstrate a better performance and higher capability of PDAFC controller for disturbance rejection in comparison with PD and AFC controllers.
format	Article
author	Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof
author_facet	Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof
author_sort	Ali, Mohammed A. H.
title	An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
title_short	An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
title_full	An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
title_fullStr	An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
title_full_unstemmed	An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment
title_sort	intelligent robust control of wheeled mobile robot in restricted environment
publisher	IARAS
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/17732/ http://umpir.ump.edu.my/id/eprint/17732/ http://umpir.ump.edu.my/id/eprint/17732/1/An%20Intelligent%20Robust%20Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf
first_indexed	2023-09-18T22:24:40Z
last_indexed	2023-09-18T22:24:40Z
_version_	1777415886107312128

An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment

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