Modeling and Control of Wheeled Mobile Robot With Four Mecanum Wheels | ||
| Engineering and Technology Journal | ||
| Article 9, Volume 39, 5A, May 2021, Pages 779-789 PDF (808.96 K) | ||
| Document Type: Research Paper | ||
| DOI: 10.30684/etj.v39i5A.1926 | ||
| Authors | ||
| Sameh F. Hasana* ; Hasan M. Alwan | ||
| University of Technology - Iraq | ||
| 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. | ||
| Keywords | ||
| FMWMR; control; Back stepping; Fuzzy Logic; Trajectory Tracking; PSO | ||
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