Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Nonlinear Controller

A Cognitive Nonlinear Trajectory Tracking Controller Design for Wheeled Mobile Robot based on Hybrid Bees-PSO Algorithm

A.S. Al-Araji; N.Q. Yousif

Engineering and Technology Journal, 2017, Volume 35, Issue 6, Pages 609-616
DOI: 10.30684/etj.2017.131978

The aim of the work for this paper is a comparative study of different types of on-line cognitive algorithms for the proposed nonlinear controller of the trajectory tracking for dynamic wheeled mobile robot that has a capability to track a continuous desired path. Three optimization algorithms are used (Bees, PSO and proposed hybrid Bees-PSO) in order to find and tune the values of the control gains of the neural controller as simple on-line with fast tuning techniques. The best torques control actions of the right wheel and left wheel for the cart mobile robot are generated on-line from the proposed controller. Simulation results (Matlab Package) show that the proposed nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is more accurate in terms of fast on-line finding and tuning parameters of the controller; obtaining smoothness control action as well as minimizing tracking error of the wheeled mobile robot than PSO or Bees optimization algorithms.

Design of a Nonlinear Robust Controller for Vibration Control of a Vehicle Suspension System

YasirKhudhair Abbas; Muhsin N.Hamza; Shibly Ahmed Al-Samarraie

Engineering and Technology Journal, 2011, Volume 29, Issue 11, Pages 2259-2273
DOI: 10.30684/etj.29.11.14

The suspension system is the main tool to achieve ride comfort and drive safety for a vehicle. Passive suspension systems have been designed to obtain a good compromise between these objectives, but intrinsic limitations prevent them from obtaining the best performances for both goals. In present work, a robust controller for the active suspension system has been designed to get the best performance of the
suspension system. The nonlinear robust controller is designed based on adding an integrator to a two-degree-of-freedom quarter-car model. The control action will decouple the upper sprung mass subsystem from the lower (unsprung mass) subsystem after a certain small period of time. As a result, by adjusting the control law parameters, the dynamical response for the sprung mass subsystem is freely specified (the damping ratio and the natural frequency for the sprung system after
decoupling). The simulation results, which are carried out by using Matlab/Simulink, proved the effectiveness of the proposed control law. The results confirmed that the sprung mass system is decoupled from the lower unsprung system and unaffected by the change in sprung mass and the road excitation disturbance. Additionally, the time history of the
sprung mass response is according to a mass spring system response with the desired damping ratio and the natural frequency.