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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...

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Main Authors: Ali, Mohammed A. H., Radzak, Muhammad S. A., Mailah, Musa, Yusoff, Nukman, Abd. Razak, Bushroa, Ab. Karim, Mohd. Sayuti, Ameen, Wadea, A. Jabbar, Waheb, Alsewari, Abdul Rahman A., Rassem, Taha H., Nasser, Abdullah B., Abdulghafor, Rawad
Format: Article
Language:English
Published: Elsevier Ltd 2021
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/97388/1/MusaMailah2021_ANovelInertiaMomentEstimationAlgorithm.pdf
http://eprints.utm.my/id/eprint/97388/
http://dx.doi.org/10.1016/j.eswa.2021.115454
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spelling my.utm.973882022-10-10T04:30:48Z http://eprints.utm.my/id/eprint/97388/ 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 A. Jabbar, Waheb Alsewari, Abdul Rahman A. Rassem, Taha H. Nasser, Abdullah B. Abdulghafor, Rawad TJ Mechanical engineering and machinery 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 Ltd 2021 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/97388/1/MusaMailah2021_ANovelInertiaMomentEstimationAlgorithm.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 A. Jabbar, Waheb and Alsewari, Abdul Rahman 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 (NA). pp. 1-29. ISSN 0957-4174 http://dx.doi.org/10.1016/j.eswa.2021.115454 DOI : 10.1016/j.eswa.2021.115454
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 TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Ali, Mohammed A. H.
Radzak, Muhammad S. A.
Mailah, Musa
Yusoff, Nukman
Abd. Razak, Bushroa
Ab. Karim, Mohd. Sayuti
Ameen, Wadea
A. Jabbar, Waheb
Alsewari, Abdul Rahman 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
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.
format Article
author Ali, Mohammed A. H.
Radzak, Muhammad S. A.
Mailah, Musa
Yusoff, Nukman
Abd. Razak, Bushroa
Ab. Karim, Mohd. Sayuti
Ameen, Wadea
A. Jabbar, Waheb
Alsewari, Abdul Rahman 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
A. Jabbar, Waheb
Alsewari, Abdul Rahman A.
Rassem, Taha H.
Nasser, Abdullah B.
Abdulghafor, Rawad
author_sort Ali, Mohammed A. H.
title 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_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_sort novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments
publisher Elsevier Ltd
publishDate 2021
url http://eprints.utm.my/id/eprint/97388/1/MusaMailah2021_ANovelInertiaMomentEstimationAlgorithm.pdf
http://eprints.utm.my/id/eprint/97388/
http://dx.doi.org/10.1016/j.eswa.2021.115454
_version_ 1748180452488773632
score 13.211869

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