| Autor: |
Davood Nazari Maryam Abadi, Mohammad Hassan Khooban |
| Jazyk: |
angličtina |
| Rok vydání: |
2015 |
| Předmět: |
|
| Zdroj: |
Journal of King Saud University: Engineering Sciences, Vol 27, Iss 1, Pp 92-100 (2015) |
| Druh dokumentu: |
article |
| ISSN: |
1018-3639 |
| DOI: |
10.1016/j.jksues.2013.05.003 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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