The week's pick
Random Articles
Reseach Article
PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking
by
Turki Y. Abdalla,
Abdulkareem. A. A
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 47 - Number 23 |
| Year of Publication: 2012 |
| Authors: Turki Y. Abdalla, Abdulkareem. A. A |
10.5120/7497-0601
|
Turki Y. Abdalla, Abdulkareem. A. A . PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking. International Journal of Computer Applications. 47, 23 ( June 2012), 30-35. DOI=10.5120/7497-0601
@article{
10.5120/7497-0601,
author = {
Turki Y. Abdalla,
Abdulkareem. A. A
},
title = { PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking },
journal = {
International Journal of Computer Applications
},
issue_date = { June 2012 },
volume = { 47 },
number = { 23 },
month = { June },
year = { 2012 },
issn = { 0975-8887 },
pages = {
30-35
},
numpages = {9},
url = {
https://ijcaonline.org/archives/volume47/number23/7497-0601/
},
doi = { 10.5120/7497-0601 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:42:38.162108+05:30
%A Turki Y. Abdalla
%A Abdulkareem. A. A
%T PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking
%J International Journal of Computer Applications
%@ 0975-8887
%V 47
%N 23
%P 30-35
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract
This paper present a particles swarm optimization (PSO) method for determining the optimal proportional – integral derivative (PID) controller parameters, for the control of nonholonomic mobile robot that involves path tracking using two optimized PID controllers one for speed control and the other for azimuth control. The mobile robot is modelled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme.
References
- Y. Shinoda, Y. Tan, J. Nakata and R. Beuran ,"Collaborative Motion Planning of Autonomous Robots", School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa Japan, 2007.
- R. A. Felder , "Mobile Robot Simulation of Clinical Laboratory Deliveries", M. Sc. Thesis, the University of Virginia, U. S. A, 1998.
- A. Haj-Ali and H. Ying , "Structural Analysis of Fuzzy Controllers with Nonlinear Input Fuzzy Sets in Relation to Nonlinear PID Control with Variable Gains", Associate Editor Gary G. Yen under the direction of Editor Robert R. Bitmead, Wayne State University , Detroit , MI48202 ,USA ,2004, available on the following link: www. sciencedirect. com.
- S. M. Gadoue, D. G. and J. W. Finch, "Tuning of PI Speed Controller in DTC of Induction Motor Based on Genetic Algorithms and Fuzzy Logic Schemes", International Journal of Advanced Robotic Systems, University of Newcastle upon Tyne, pp. 187 - 194, ISSN 1229-3406, 2005.
- J. Kennedy and R. Eberhart, "Particle swarm optimization," in Proc. IEEE Int. Conf. Neural Networks , vol. IV, Perth, Australia, 1995, pp. 1942–1948.
- M. A. Abido, "Optimal design of power-system stabilizers using particleswarm optimization," IEEE Trans. Energy Conversion, vol. 17, pp. 406-413, Sep. 2002.
- D. R. Shircliff, "Build A Remote-Controlled Robot", eBook, Copyright © by The McGraw-Hill Companies, 2002.
- . ] M. I. Ribeiro and P. Lima, "Kinematics Models of Mobile Robots", Av. Rovisco Pais, 11049-001 Lisboa, April, 2002
- G. Mester, "Obstacle Avoidance of Mobile Robots in Unknown Environments", SISY, International Symposium on Intelligent Systems and Informatics 24-25 Subotica, Serbia, August, 2007.
- A. Albagul and Wahyudi, "Dynamic Modelling and Adaptive Traction Control for Mobile Robots", 30th Annual Conference of the IEEE Industrial Electronics Society, November 2 - 6, Susan, Korea 2004.
- E. N. moret, "Dynamic modeling and control of a car-like robot"Master's thises, Virginia Polytechnic Institute and state University ,2003.
- P. Kachoor and M. tomizuka, "vehicle control for automated highway systems for improve lateral maneuverability," in IEEE International conference on systems,Man, and Cybernetics , Vancouver ,B. C. , Canada , vol. 1,pp. 777-782, Oct. 1995.
- Duc Do,K. ,Zhong-Ping j. ,Pan,J. "A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots," IEEE Trans. Automat Contr. , V30,N3,pp. 589-594, 2004.
- J. Kennedy and R. Eberhart, "Particle swarm optimization," in Proc. IEEE Int. Conf. Neural Networks , vol. IV, Perth, Australia, 1995,pp. 1942–1948.
- Z. -L. Gaing, "A particle swarm optimization approach for optimum design of PID controller in AVR system," IEEE Trans. EnergyConversion, vol. 19, pp. 384-391, June 2004.
- H. Yoshida, K. Kawata, Y. Fukuyama, S. Takayama, and Y. Nakanishi, "A particle swarm optimization for reactive power and voltage control considering voltage security assessment," IEEE Trans. on Power Systems, Vol. 15, No. 4, Nov. 2000, pp. 1232 – 1239.
- R. A. Krohling and J. P. Rey, "Design of optimal disturbance rejectionPID controllers using genetic algorithm," IEEE Trans. Evol. Comput. ,vol. 5, pp. 78–82, Feb. 2001.
- R. A. Krohling and J. P. Rey, "Design of optimal disturbance rejectionPID controllers using genetic algorithm," IEEE Trans. Evol. Comput. ,vol. 5, pp. 78–82, Feb. 2001.
- Y. Mitsukura, T. Yamamoto, and M. Kaneda, "A design of self-tuningPID controllers using a genetic algorithm," in Proc. Amer. Contr. Conf. ,San Diego, CA, June 1999, pp. 1361–1365.
Index Terms
Computer Science
Information Sciences
Keywords