| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 827263 | Journal of King Saud University - Engineering Sciences | 2015 | 9 Pages |
Abstract
In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable.
Related Topics
Physical Sciences and Engineering
Engineering
Engineering (General)
Authors
Davood Nazari Maryam Abadi, Mohammad Hassan Khooban,