Optimal backstepping-fopıd controller design for wheeled mobile robot
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Dosyalar
Tarih
2022
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
International Information and Engineering Technology Association
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem of wheeled mobile robots (WMR) is examined in this study. Tuning parameters is a challenging task, to overcome this issue a hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique is known as the hybrid whale grey wolf optimizer (HWGO), which benefits from the performances of the two traditional algorithms, the whale optimizer algorithm (WOA) and the grey wolf optimizer (GWO), to obtain the most suitable solution. The efficiency of the HWGO algorithm is compared against those of the original algorithms WOA, GWO, the particle swarm optimizer (PSO), and the hybrid particle swarm grey wolf optimizer (HPSOGWO). The simulation results in MATLAB–Simulink environment revealed the highest efficiency of the suggested HWGO technique compared to the other methods in terms of settling and rise time, overshoot, as well as steady-state error. Finally, a star trajectory is made to illustrate the capability of the mentioned controller
Açıklama
Anahtar Kelimeler
optimization algorithms for robotics, wheeled mobile robot, trajectory tracking, backstepping controller, fractional order proportional integral derivative controller, meta-heuristic, particle swarm optimizer, grey wolf optimizer, hybrid particle swarm grey wolf optimizer, hybrid whale grey wolf optimizer
Kaynak
Journal Europeen des Systemes Automatises
WoS Q Değeri
Scopus Q Değeri
N/A
