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Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm

By definition, a mobile robot is a type of robot that has capability to move in a certain kind of environment and generally used to accomplish certain tasks with some degrees of freedom (DoF). Applications of mobile robots cover both industrial and domestic area. It may help to reduce risk to human...

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Main Authors: ,, Dwi Pebrianti, Ann Ayop azmi, Nurnajmi Qasrina, Bayuaji, Luhur, Suarin, Nur Aisyah Syafinaz, ,, Muhammad Syafrullah
Other Authors: A. R., Aria
Format: Book Chapter
Language:English
Published: Penerbit Universiti Malaysia Pahang 2022
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/101895/1/application%20of%20optimization%20for%20control.pdf
http://irep.iium.edu.my/101895/
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spelling my.iium.irep.1018952023-05-02T00:54:43Z http://irep.iium.edu.my/101895/ Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm ,, Dwi Pebrianti Ann Ayop azmi, Nurnajmi Qasrina Bayuaji, Luhur Suarin, Nur Aisyah Syafinaz ,, Muhammad Syafrullah T Technology (General) By definition, a mobile robot is a type of robot that has capability to move in a certain kind of environment and generally used to accomplish certain tasks with some degrees of freedom (DoF). Applications of mobile robots cover both industrial and domestic area. It may help to reduce risk to human being and to the environment. Mobile robot is expected to operate safely where it must stay away from hazards such as obstacles. Therefore, a controller needs to be designed to make the system robust and adaptive. In this study, PID controller is chosen to control a wheel mobile robot. PID is considered as simple yet powerful controller for many kinds of applications. In designing PID, user needs to set appropriate controller gain to achieve a desired performance of the control system, in terms of time response and its steady state error. In this study, a new proposed hybrid optimization algorithm, called Extended Bat Algorithm (EBA) is used for optimizing the PID controller for the wheel mobile robot. Three different optimization algorithms which are Bat Algorithm (BA), Bat Algorithm with Mutation (BAM) and Extended Bat Algorithm (EBA) are implemented to optimize the value of PID controller gain for wheel mobile robot. The performance of these algorithms will be compared with a well-known optimization algorithm, Particle Swarm Optimization (PSO). The result shows that BAM has better performance compared to PSO in term of overshoot percentage and steady state error. BAM gives 2.29% of overshoot and 2.94% of steady state error. Meanwhile, PSO gives 3.07% of overshoot and 3.72% of steady state error. Penerbit Universiti Malaysia Pahang A. R., Aria 2022-11 Book Chapter PeerReviewed application/pdf en http://irep.iium.edu.my/101895/1/application%20of%20optimization%20for%20control.pdf ,, Dwi Pebrianti and Ann Ayop azmi, Nurnajmi Qasrina and Bayuaji, Luhur and Suarin, Nur Aisyah Syafinaz and ,, Muhammad Syafrullah (2022) Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm. In: Applications of Optimisation in Control Engineering. Penerbit Universiti Malaysia Pahang, pp. 25-50. ISBN 9789672831709
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
,, Dwi Pebrianti
Ann Ayop azmi, Nurnajmi Qasrina
Bayuaji, Luhur
Suarin, Nur Aisyah Syafinaz
,, Muhammad Syafrullah
Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
description By definition, a mobile robot is a type of robot that has capability to move in a certain kind of environment and generally used to accomplish certain tasks with some degrees of freedom (DoF). Applications of mobile robots cover both industrial and domestic area. It may help to reduce risk to human being and to the environment. Mobile robot is expected to operate safely where it must stay away from hazards such as obstacles. Therefore, a controller needs to be designed to make the system robust and adaptive. In this study, PID controller is chosen to control a wheel mobile robot. PID is considered as simple yet powerful controller for many kinds of applications. In designing PID, user needs to set appropriate controller gain to achieve a desired performance of the control system, in terms of time response and its steady state error. In this study, a new proposed hybrid optimization algorithm, called Extended Bat Algorithm (EBA) is used for optimizing the PID controller for the wheel mobile robot. Three different optimization algorithms which are Bat Algorithm (BA), Bat Algorithm with Mutation (BAM) and Extended Bat Algorithm (EBA) are implemented to optimize the value of PID controller gain for wheel mobile robot. The performance of these algorithms will be compared with a well-known optimization algorithm, Particle Swarm Optimization (PSO). The result shows that BAM has better performance compared to PSO in term of overshoot percentage and steady state error. BAM gives 2.29% of overshoot and 2.94% of steady state error. Meanwhile, PSO gives 3.07% of overshoot and 3.72% of steady state error.
author2 A. R., Aria
author_facet A. R., Aria
,, Dwi Pebrianti
Ann Ayop azmi, Nurnajmi Qasrina
Bayuaji, Luhur
Suarin, Nur Aisyah Syafinaz
,, Muhammad Syafrullah
format Book Chapter
author ,, Dwi Pebrianti
Ann Ayop azmi, Nurnajmi Qasrina
Bayuaji, Luhur
Suarin, Nur Aisyah Syafinaz
,, Muhammad Syafrullah
author_sort ,, Dwi Pebrianti
title Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
title_short Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
title_full Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
title_fullStr Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
title_full_unstemmed Performance evaluation of PID controller optimisation for wheel mobile robot using Bat based optimisation algorithm
title_sort performance evaluation of pid controller optimisation for wheel mobile robot using bat based optimisation algorithm
publisher Penerbit Universiti Malaysia Pahang
publishDate 2022
url http://irep.iium.edu.my/101895/1/application%20of%20optimization%20for%20control.pdf
http://irep.iium.edu.my/101895/
_version_ 1765296471838556160
score 13.211869

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