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The paper demonstrates an enhancement in the mobile robot's performance during trajectory tracking with static obstacles. An adaptive artificial neural network (ANN) control methodology with online tuning evolutionary slice genetic algorithm is used for the motion control of the nonlinear dynamics mobile robot system. This paper aims at locating the optimal path from the starting point to the target point and designing an ANN trajectory tracking control methodology. The algorithm is simulated with fixed-global environment obstacles to demonstate the effectiveness of the ANN controller and the evolutionary optimization algorithm in terms of the shortest path length generated and the minimum number of the evaluation cost function calculated. The simulation results illustrate that the ANN controller's parameters are obtained quickly, generating smooth wheels' torque actions for the mobile robot platform with a minimum cost function evolution that lead to minimize the tracking error to approximately zero with no oscillation in the responses.

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This paper presents an enhancement technique for tracking and regulating the blood glucose level for diabetic patients using an intelligent auto-tuning Proportional-Integral-Derivative PID controller. The proposed controller aims to generate the best insulin control action responsible for regulating the blood glucose level precisely, accurately, and quickly. The tuning control algorithm used the Dolphin Echolocation Optimization (DEO) algorithm for obtaining the near-optimal PID controller parameters with a proposed time domain specification performance index. The MATLAB simulation results for three different patients showed that the effectiveness and the robustness of the proposed control algorithm in terms of fast generating insulin control action and tracking the dynamics behavior of the blood glucose level of the diabetic patients through minimizing overshoot, rise time and settling time in the transient state as well as the steady-state blood glucose level error is reduced approximately to zero and keep it in the desired glucose level, especially when we added a meal as disturbance effect.