- Tytuł:
- Fuzzy synergetic control for dynamic car-like mobile robot
- Autorzy:
-
Bouhamatou, Zoulikha
Abedssemed, Foudil - Powiązania:
- https://bibliotekanauki.pl/articles/2106222.pdf
- Data publikacji:
- 2022
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
CLMR
synergetic control
lyapunov stability
GWO
fuzzy logic type 2 - Opis:
- This paper aims to present the dynamic control of a Car-like Mobile Robot (CLMR) using Synergetic Control (SC). The SC control is used to make the linear velocity and steering velocity converge to references. Lyapunov synthesis is adopted to assure controlled system stability. To find the optimised parameters of the SC, the grey wolf optimiser (GWO) algorithm is used. These parameters depend on the best-selected fitness function. Four fitness functions are selected for this purpose, which is based on the integral of the error square (ISE), the integral of the square of the time-weighted error (ITSE), the integral of the error absolute (IAE) and the integral of the absolute of the time-weighted error (TIAE) criterion. To go further in the investigation, fuzzy logic type 2 is used to get at each iteration the appropri-ate controller parameters that give the best performances and robustness. Simulations results are conducted to show the feasibility and efficiency of the proposed control methods.
- Źródło:
-
Acta Mechanica et Automatica; 2022, 16, 1; 48--57
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł