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Robust intelligent active force control of nonholonomic wheeled mobile robot

The paper describes a new and novel approach to control a nonholonomic wheeled mobile robot (WMR) robustly with reference to its trajectory tracking capability in the wake of introduced disturbances. The workspace of a mobile robot is not always ideal but more often than not, filled with disturbance...

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Main Authors:	Tang, H. H., Mailah, Musa, A. Jalil, M. Kasim
Format:	Article
Language:	English
Published:	Penerbit UTM Press 2006
Subjects:	TC Hydraulic engineering. Ocean engineering
Online Access:	http://eprints.utm.my/id/eprint/2579/1/JTjun44D%5B4%5DCRC.pdf http://eprints.utm.my/id/eprint/2579/ http://www.penerbit.utm.my/onlinejournal/44/D/JTjun44D04.pdf
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id	my.utm.2579
record_format	eprints
spelling	my.utm.25792017-11-01T04:17:30Z http://eprints.utm.my/id/eprint/2579/ Robust intelligent active force control of nonholonomic wheeled mobile robot Tang, H. H. Mailah, Musa A. Jalil, M. Kasim TC Hydraulic engineering. Ocean engineering The paper describes a new and novel approach to control a nonholonomic wheeled mobile robot (WMR) robustly with reference to its trajectory tracking capability in the wake of introduced disturbances. The workspace of a mobile robot is not always ideal but more often than not, filled with disturbances (known or unknown) such as inherent friction, irregular surface terrain, uncertainties, and parametric changes. An intelligent active force control (IAFC) scheme incorporating fuzzy logic has been proposed in the study to counter the disturbances and consequently improve the trajectory tracking characteristic of the system. In the study, IAFC scheme is employed together with a resolved acceleration control (RAC) that has been shown to provide a very robust and accurate performance of the WMR. Fuzzy logic is explicitly used for the estimation of the inertia matrix that is required in the inner feedback control loop of the IAFC scheme. The robustness and effectiveness of the proposed control scheme are investigated considering various forms of loading and operating conditions. The IAFC scheme has also been compared to two other control methods for the purpose of benchmarking. Penerbit UTM Press 2006-06 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/2579/1/JTjun44D%5B4%5DCRC.pdf Tang, H. H. and Mailah, Musa and A. Jalil, M. Kasim (2006) Robust intelligent active force control of nonholonomic wheeled mobile robot. Jurnal Teknologi D (44D). pp. 49-64. ISSN 0127-9696 http://www.penerbit.utm.my/onlinejournal/44/D/JTjun44D04.pdf
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TC Hydraulic engineering. Ocean engineering
spellingShingle	TC Hydraulic engineering. Ocean engineering Tang, H. H. Mailah, Musa A. Jalil, M. Kasim Robust intelligent active force control of nonholonomic wheeled mobile robot
description	The paper describes a new and novel approach to control a nonholonomic wheeled mobile robot (WMR) robustly with reference to its trajectory tracking capability in the wake of introduced disturbances. The workspace of a mobile robot is not always ideal but more often than not, filled with disturbances (known or unknown) such as inherent friction, irregular surface terrain, uncertainties, and parametric changes. An intelligent active force control (IAFC) scheme incorporating fuzzy logic has been proposed in the study to counter the disturbances and consequently improve the trajectory tracking characteristic of the system. In the study, IAFC scheme is employed together with a resolved acceleration control (RAC) that has been shown to provide a very robust and accurate performance of the WMR. Fuzzy logic is explicitly used for the estimation of the inertia matrix that is required in the inner feedback control loop of the IAFC scheme. The robustness and effectiveness of the proposed control scheme are investigated considering various forms of loading and operating conditions. The IAFC scheme has also been compared to two other control methods for the purpose of benchmarking.
format	Article
author	Tang, H. H. Mailah, Musa A. Jalil, M. Kasim
author_facet	Tang, H. H. Mailah, Musa A. Jalil, M. Kasim
author_sort	Tang, H. H.
title	Robust intelligent active force control of nonholonomic wheeled mobile robot
title_short	Robust intelligent active force control of nonholonomic wheeled mobile robot
title_full	Robust intelligent active force control of nonholonomic wheeled mobile robot
title_fullStr	Robust intelligent active force control of nonholonomic wheeled mobile robot
title_full_unstemmed	Robust intelligent active force control of nonholonomic wheeled mobile robot
title_sort	robust intelligent active force control of nonholonomic wheeled mobile robot
publisher	Penerbit UTM Press
publishDate	2006
url	http://eprints.utm.my/id/eprint/2579/1/JTjun44D%5B4%5DCRC.pdf http://eprints.utm.my/id/eprint/2579/ http://www.penerbit.utm.my/onlinejournal/44/D/JTjun44D04.pdf
_version_	1643643607302799360
score	13.211869

Robust intelligent active force control of nonholonomic wheeled mobile robot

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