Modeling and control of 3-omni wheel Robot using PSO optimization and Neural Network

Saleh, Mahmood Abdallah; Soliman, MennaAllah; Ammar, Hossam Hassan; Shalaby, Mohamed

doi:10.1109/iccad49821.2020.9260509

Cited by 3 publications

(2 citation statements)

References 21 publications

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“…PID controller exhibits the mechanism of controlling process variables by using control loop feedback. In this paper, a PID controller is adjoined with a Cuk converter system to provide Implementation of Bio-inspired Algorithms in Designing Optimized PID controller for Cuk Converter for Enhanced Performance: A Software based Approach a better-regulated output voltage along with a thorough evaluation on stabilizing the non-linearity of the closed-loop power converter system by locating the suitable controller constants K P , K I , and K D [65]. However, prolonged operational time and unsatisfactory tuning of the PID parameters are observed for a conventional PID controller.…”

Section: Bia-pid Controllermentioning

confidence: 99%

Implementation of Bio-inspired Algorithms in Designing Optimized PID controller for Cuk Converter for Enhanced Performance: A Software based Approach

Shagor,

Faisal,

Nishat

et al. 2023

EAI Endorsed Trans AI Robotics

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This paper represents the idea of implementing bio-inspired algorithms in designing an optimized PID controller to investigate the stability and improve the performance of the closed-loop CUK converter. Bio-inspired algorithms (BIA) such as Firefly Algorithm (FA), Particle Swarm Optimization (PSO) and, Artificial Bee Colony (ABC) are stochastic optimization techniques and have been increasingly applied to attain optimal solution for designing and optimizing power converters in current times. The closed-loop transfer function of the CUK converter has been developed by the State Space Average (SSA) technique. This paper assesses both the cases of converter stability when it is integrated with the conventional PID controller and the BIA-PID controllers (FA-PID, PSO-PID, ABC-PID) and eventually compares the outcomes from all the controllers. For examining the stability of the system, three objective functions (IAE, ITAE, and ISE) and various performance specifications such as percentage of overshoot, rise time, settling time, and peak amplitude are tabulated. MATLAB and Simulink are used to carry out the simulations meticulously. Hence, a comparative analysis is illustrated in this paper to state a clear-sighted evaluation of the performances.

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Section: Bia-pid Controllermentioning

confidence: 99%

Implementation of Bio-inspired Algorithms in Designing Optimized PID controller for Cuk Converter for Enhanced Performance: A Software based Approach

Shagor,

Faisal,

Nishat

et al. 2023

EAI Endorsed Trans AI Robotics

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show abstract

“…Research on robot movement using a microcontroller device was also carried out for position tracking on a 4wd omni-directional robot [14]. Artificial intelligence methods have also been proposed to control 3WD omni wheel robots [11]. Research related to controlling omni wheel robots has also been carried out for a long time as in [15]- [17].…”

Section: Introductionmentioning

confidence: 99%

Movement Control of Three Omni-Wheels Robot using Pole Placement State Feedback and PID Control

Swadexi Istiqphara,

Ulya Darajat,

Fahmizal

et al. 2023

JFSC

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Omni wheels robot have high efficiency in robot movement, but also have its own challenges in controlling this robot, especially robots with three omni wheels (3WD). This paper proposes a robot control system using the pole placement state feedback method to control the inner loop which controls the body reference speed, and PID method is used to control the outer loop which controls the robot's position in world coordinates. The results obtained using computer simulations show that the proposed method is able to control the robot's position in world coordinates even though there is an overshoot of 5- 10% on X and yaw axis, however the Y axis performance is overshoot more than 100% because of coupled effect thats still cannot be eliminated.

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A Study of Path Planning for Multi- UAVs in Random Obstacle Environment Based on Improved Artificial Potential Field Method

Yuan

Feng

2022

2022 China Automation Congress (CAC)

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Modeling and control of 3-omni wheel Robot using PSO optimization and Neural Network

Cited by 3 publications

References 21 publications

Implementation of Bio-inspired Algorithms in Designing Optimized PID controller for Cuk Converter for Enhanced Performance: A Software based Approach

Implementation of Bio-inspired Algorithms in Designing Optimized PID controller for Cuk Converter for Enhanced Performance: A Software based Approach

Movement Control of Three Omni-Wheels Robot using Pole Placement State Feedback and PID Control

A Study of Path Planning for Multi- UAVs in Random Obstacle Environment Based on Improved Artificial Potential Field Method

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