Print ISSN: 1681-6900

Online ISSN: 2412-0758

Keywords : Bees Algorithm

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.

On-Line Tuning Sliding Mode Controller Design for Nonlinear Inverted Pendulum System based on Bees Algorithm

Khulood E. Dagher; Ahmed Ibraheem Abdulkareem

Engineering and Technology Journal, 2016, Volume 34, Issue 8, Pages 1575-1587

This paper proposes a modified swing control for a nonlinear inverted pendulum system by utilizing the sliding mode controller based on the on-line tuningBeesalgorithm as speed of optimization and accuracy of results. The goal of the proposed nonlinear controller is to obtainthe optimal force control action for the pendulumcart in order to stabilize the pendulum in the inverted position precisely and quickly.The optimal parameters of the nonlinear controller are on-line tuned by Bees algorithm and guided by Lyapunov stability criterionto reduce the amplitude of the sliding mode signum function in order to eliminate the chattering phenomena and make the smoothness control action.Matlab simulation results confirm the validity of the proposed controller algorithm in terms offast dynamic response, minimizing the pendulum’s angle tracking error to the zero radianat 2.5 second and obtaining the optimal and smooth force control action without saturation state, with the minimum number of fitness evaluation of the algorithm.