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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IARAS
2017
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| Subjects: | |
| Online Access: | 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 |
| _version_ | 1848820500354039808 |
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| 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. |
| building | UMP Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T02:10:26Z |
| format | Article |
| id | ump-17732 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:10:26Z |
| publishDate | 2017 |
| publisher | IARAS |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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. (Published) http://www.iaras.org/iaras/journals/caijcsr/an-intelligent-robust-control-of-wheeled-mobile-robot-in-restricted-environment |
| 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 |
| title | 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_short | An Intelligent Robust Control of Wheeled Mobile Robot in Restricted Environment |
| title_sort | intelligent robust control of wheeled mobile robot in restricted environment |
| topic | TS Manufactures |
| 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 |