Path Planning Control for 3-Omni Fighting Robot Using PID and Fuzzy Logic Controller

Soliman, MennaAllah; Azar, Ahmad Taher; Saleh, Mahmood Abdallah; Ammar, Hossam Hassan

doi:10.1007/978-3-030-14118-9_45

Cited by 44 publications

(15 citation statements)

References 8 publications

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“…Proportional-integral-derivative (PID) controllers were implemented in the process control and other applications [31][32][33][34][35]. For these reasons, as explained in the previous section, the H-infinity PID loop shaping controller system, given in Figure 4, is obtained by elliptic functions.…”

Section: H ∞ Pid Loop Shaping Controller Synthesis By Elliptic Functionsmentioning

confidence: 99%

Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

Azar

Serrano

Kamal

2021

MCA

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In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

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Section: H ∞ Pid Loop Shaping Controller Synthesis By Elliptic Functionsmentioning

confidence: 99%

Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

Azar

Serrano

Kamal

2021

MCA

Self Cite

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“…But the walking robot is a complex time-varying dynamic system and vulnerable to environmental interference, the traditional controller cannot meet its high-performance control requirements. Therefore, in order to further improve the control performance of robot system, many advanced control strategies and nonlinear controllers have been proposed and applied, such as predictive control [4], neural network control [5], fuzzy logic control [6], sliding mode control(SMC) [7] and robust control [8]. Among them, SMC has long been considered as an effective and simple special nonlinear control scheme, which can overcome the uncertainty of the system, and has strong robustness to nonsingular external disturbances and unmodeled dynamics of the system, especially for the nonlinear systems [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Super Twisting Sliding Mode Control With Fractional Order Sliding Surface for Trajectory Tracking of a Mobile Robot

Ren

Zhang

2021

Preprint

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This paper presents the position tracking performance of the robot system with uncertainties and external disturbances by using super twisting sliding mode control (STSMC) with fractional order (FO) sliding surface. In this scheme, fractional calculus theory is applied to the design of the sliding surface of STSMC, which can reduce the chattering caused by the switch control action and ensure that the control system has strong robust characteristics and fast convergence. Based on Lyapunov stability theory, the controller ensures the existence of sliding mode of sliding surface in finite time. Moreover, an adaptive STSMC reaching law is adopted. By using the fractional order nonlinear switching manifold and adaptive reaching law, the control performance can be obtained more effectively in sliding mode phase and the reaching phase, respectively. Finally, in order to validate the effectiveness and robustness of the proposed control strategy, the linear PID control strategy and the classical STSMC strategy are designed for comparative analysis, and the numerical calculation is carried out according to the dynamic model to study the position tracking accuracy of the robot under uncertainty and external interference.

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“…In recent years, the robotics industry has developed rapidly. A lot of technologies are implemented in various applications [1,2], e.g., mobile robots have the ability to perform specific tasks in an industrial work environment, homes, hospitals, among others [3]. Some representative mobile robots include household cleaning robots, military surveillance drones, warehouse robots and autonomous robots [4,5].…”

Section: Introductionmentioning

confidence: 99%

Control of an Omnidirectional Robot Based on the Kinematic and Dynamic Model

Gallo

Paste

Ortiz

et al. 2021

Communications in Computer and Information Science

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This work focuses on the proposal for the implementation and evaluation of control algorithms for the monitoring of autonomous trajectories based on the kinematic and dynamic model of an omnidirectional robotic platform in four wheel configuration type mecanum also built for the process of identification and validation of the dynamic parameters obtained from the mathematical model by means of an identification algorithm, the evaluation of these control algorithms is carried out experimentally on the Robotic Platform in real four-wheel omnidirectional configuration with which it also allows to evaluate the operation of the Hardware in the Loop control scheme (HIL), a technique that constitutes the untimely connection of external hardware with computer equipment allowing to simulate in real time the behavior of the robotic system with omnidirectional traction in four-wheel configuration type mecanum. Subsequently the data resulting from the Hardware in the Loop (HIL) control scheme will be compared to the data obtained in the experimental test for corresponding validation.

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Path Planning Control for 3-Omni Fighting Robot Using PID and Fuzzy Logic Controller

Cited by 44 publications

References 8 publications

Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

Adaptive Super Twisting Sliding Mode Control With Fractional Order Sliding Surface for Trajectory Tracking of a Mobile Robot

Control of an Omnidirectional Robot Based on the Kinematic and Dynamic Model

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