A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments
This paper presents a novel inertia moment estimation algorithm to enable the Active Force Control Scheme for tracking a wheeled mobile robot (WMR) effectively in a specific trajectory within constrained environments such as on roads or in factories. This algorithm, also known as laser simulator log...
| Main Authors: | , , , , , , , , , , , |
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| Format: | Article |
| Language: | English English |
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Elsevier
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/32117/ http://umpir.ump.edu.my/id/eprint/32117/1/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force%20.pdf http://umpir.ump.edu.my/id/eprint/32117/2/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force_FULL.pdf |
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| author | Ali, Mohammed A. H. Radzak, Muhammad S. A. Mailah, Musa Yusoff, Nukman Abd Razak, Bushroa Ab.Karim, Mohd Sayuti Ameen, Wadea Jabbar, Waheb A. Alsewari, Abdulrahman A. Rassem, Taha H. Nasser, Abdullah B. Abdulghafor, Rawad |
| author_facet | Ali, Mohammed A. H. Radzak, Muhammad S. A. Mailah, Musa Yusoff, Nukman Abd Razak, Bushroa Ab.Karim, Mohd Sayuti Ameen, Wadea Jabbar, Waheb A. Alsewari, Abdulrahman A. Rassem, Taha H. Nasser, Abdullah B. Abdulghafor, Rawad |
| author_sort | Ali, Mohammed A. H. |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents a novel inertia moment estimation algorithm to enable the Active Force Control Scheme for tracking a wheeled mobile robot (WMR) effectively in a specific trajectory within constrained environments such as on roads or in factories. This algorithm, also known as laser simulator logic, has the capability to estimate the inertia moment of the AFC-controller when the robot is moving in a pre-planned path with the presence of noisy measurements. The estimation is accomplished by calculating the membership function based on the experts’ views in any form (symmetric or non-symmetric) with lowly or highly overlapped linguistic variables. A new Proportional-Derivative Active Force Controller (PD-AFC-LS-QC), employing the use of laser simulator logic and quick compensation loop, has been developed in this paper to robustly reject the noise and disturbances. This controller has three feedback control loops, namely, internal, external and quick compensation loops to compensate effectively the disturbances in the constrained environments. A simulation and experimental studies on WMR path control in two kinds of environments; namely, zigzag and highly curved terrains, were conducted to verify the proposed algorithm and controller which was then compared with other existed control schemes. The results of the simulation and experimental works show the capability of the proposed algorithms and the controller to robustly move the WMR in the constrained environments. |
| first_indexed | 2025-11-15T03:05:07Z |
| format | Article |
| id | ump-32117 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:05:07Z |
| publishDate | 2021 |
| publisher | Elsevier |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-321172022-02-28T03:13:00Z http://umpir.ump.edu.my/id/eprint/32117/ A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments Ali, Mohammed A. H. Radzak, Muhammad S. A. Mailah, Musa Yusoff, Nukman Abd Razak, Bushroa Ab.Karim, Mohd Sayuti Ameen, Wadea Jabbar, Waheb A. Alsewari, Abdulrahman A. Rassem, Taha H. Nasser, Abdullah B. Abdulghafor, Rawad TK Electrical engineering. Electronics Nuclear engineering This paper presents a novel inertia moment estimation algorithm to enable the Active Force Control Scheme for tracking a wheeled mobile robot (WMR) effectively in a specific trajectory within constrained environments such as on roads or in factories. This algorithm, also known as laser simulator logic, has the capability to estimate the inertia moment of the AFC-controller when the robot is moving in a pre-planned path with the presence of noisy measurements. The estimation is accomplished by calculating the membership function based on the experts’ views in any form (symmetric or non-symmetric) with lowly or highly overlapped linguistic variables. A new Proportional-Derivative Active Force Controller (PD-AFC-LS-QC), employing the use of laser simulator logic and quick compensation loop, has been developed in this paper to robustly reject the noise and disturbances. This controller has three feedback control loops, namely, internal, external and quick compensation loops to compensate effectively the disturbances in the constrained environments. A simulation and experimental studies on WMR path control in two kinds of environments; namely, zigzag and highly curved terrains, were conducted to verify the proposed algorithm and controller which was then compared with other existed control schemes. The results of the simulation and experimental works show the capability of the proposed algorithms and the controller to robustly move the WMR in the constrained environments. Elsevier 2021-11-30 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/32117/1/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force%20.pdf pdf en http://umpir.ump.edu.my/id/eprint/32117/2/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force_FULL.pdf Ali, Mohammed A. H. and Radzak, Muhammad S. A. and Mailah, Musa and Yusoff, Nukman and Abd Razak, Bushroa and Ab.Karim, Mohd Sayuti and Ameen, Wadea and Jabbar, Waheb A. and Alsewari, Abdulrahman A. and Rassem, Taha H. and Nasser, Abdullah B. and Abdulghafor, Rawad (2021) A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments. Expert Systems with Applications, 183 (115454). pp. 1-29. ISSN 0957-4174. (Published) https://doi.org/10.1016/j.eswa.2021.115454 https://doi.org/10.1016/j.eswa.2021.115454 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ali, Mohammed A. H. Radzak, Muhammad S. A. Mailah, Musa Yusoff, Nukman Abd Razak, Bushroa Ab.Karim, Mohd Sayuti Ameen, Wadea Jabbar, Waheb A. Alsewari, Abdulrahman A. Rassem, Taha H. Nasser, Abdullah B. Abdulghafor, Rawad A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title | A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title_full | A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title_fullStr | A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title_full_unstemmed | A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title_short | A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| title_sort | novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/32117/ http://umpir.ump.edu.my/id/eprint/32117/ http://umpir.ump.edu.my/id/eprint/32117/ http://umpir.ump.edu.my/id/eprint/32117/1/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force%20.pdf http://umpir.ump.edu.my/id/eprint/32117/2/A%20novel%20inertia%20moment%20estimation%20algorithm%20collaborated%20with%20active%20force_FULL.pdf |