Optimal backstepping-fopıd controller design for wheeled mobile robot

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dc.contributor.authorEuldji, Rafik
dc.contributor.authorBatel, Noureddine
dc.contributor.authorRebhi, Redha
dc.contributor.authorKaid, Noureddine
dc.contributor.authorTearnbucha, Chutarat
dc.contributor.authorSudsutad, Weerawat
dc.contributor.authorLorenzini, Giulio
dc.contributor.authorAhmad, Hijaz
dc.contributor.authorAmeur, Houari
dc.contributor.authorMenni, Younes
dc.date.accessioned2023-01-19T08:43:49Z
dc.date.available2023-01-19T08:43:49Z
dc.date.issued2022en_US
dc.departmentRektörlük, Bilişim Teknolojileri Uygulama ve Araştırma Merkezien_US
dc.description.abstractA 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 controlleren_US
dc.identifier.doi10.18280/jesa.550110en_US
dc.identifier.scopus2-s2.0-85128173488en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://hdl.handle.net/11467/6074
dc.identifier.urihttps://doi.org/10.18280/jesa.550110
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInternational Information and Engineering Technology Associationen_US
dc.relation.ispartofJournal Europeen des Systemes Automatisesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectoptimization 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 optimizeren_US
dc.titleOptimal backstepping-fopıd controller design for wheeled mobile roboten_US
dc.typeArticleen_US

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