Cover Image

Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.

The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to c...

Full description

Saved in:
Bibliographic Details
Main Authors: Wan Ismail, Wan Ishak, Shamshiri, Ramin
Format: Article
Language:English
English
Published: 2013
Online Access:http://psasir.upm.edu.my/id/eprint/28623/1/Design%20and%20Simulation%20of%20Control%20Systems%20for%20Field%20Survey%20Mobile%20Robot%20Platform.pdf
http://psasir.upm.edu.my/id/eprint/28623/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.upm.eprints.28623
record_format eprints
spelling my.upm.eprints.286232015-10-09T01:15:36Z http://psasir.upm.edu.my/id/eprint/28623/ Design and Simulation of Control Systems for Field Survey Mobile Robot Platform. Wan Ismail, Wan Ishak Shamshiri, Ramin The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a two link arm attached on the robot base. The response of the actuator model for each controller were determined and compared for a sinusoidal and a step input that simulated robot speed and positioning references respectively. Performance analysis showed the effectiveness of the PID and lead-lag compensator response for the wheel steering task, while the fuzzy logic controller design had a better performance in wheel speed control. The output of this analysis was a proved satisfaction of the proposed design criteria which results enhanced mobility of the robot in terms of fast response, speed control accuracy and smooth steering at row-end turnings. 2013 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/28623/1/Design%20and%20Simulation%20of%20Control%20Systems%20for%20Field%20Survey%20Mobile%20Robot%20Platform.pdf Wan Ismail, Wan Ishak and Shamshiri, Ramin (2013) Design and Simulation of Control Systems for Field Survey Mobile Robot Platform. Research Journal of Applied Sciences, Engineering and Technology, 6 (13). pp. 2307-2315. ISSN 2040-7459 English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
English
description The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a two link arm attached on the robot base. The response of the actuator model for each controller were determined and compared for a sinusoidal and a step input that simulated robot speed and positioning references respectively. Performance analysis showed the effectiveness of the PID and lead-lag compensator response for the wheel steering task, while the fuzzy logic controller design had a better performance in wheel speed control. The output of this analysis was a proved satisfaction of the proposed design criteria which results enhanced mobility of the robot in terms of fast response, speed control accuracy and smooth steering at row-end turnings.
format Article
author Wan Ismail, Wan Ishak
Shamshiri, Ramin
spellingShingle Wan Ismail, Wan Ishak
Shamshiri, Ramin
Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
author_facet Wan Ismail, Wan Ishak
Shamshiri, Ramin
author_sort Wan Ismail, Wan Ishak
title Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
title_short Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
title_full Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
title_fullStr Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
title_full_unstemmed Design and Simulation of Control Systems for Field Survey Mobile Robot Platform.
title_sort design and simulation of control systems for field survey mobile robot platform.
publishDate 2013
url http://psasir.upm.edu.my/id/eprint/28623/1/Design%20and%20Simulation%20of%20Control%20Systems%20for%20Field%20Survey%20Mobile%20Robot%20Platform.pdf
http://psasir.upm.edu.my/id/eprint/28623/
_version_ 1643829520130637824
score 13.211869

Similar Items