<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper aims to present the dynamic control of a Car-like Mobile Robot (CLMR) using Synergetic Control (SC). The SC control is used to make the linear velocity and steering velocity converge to references. Lyapunov synthesis is adopted to assure controlled system stability. To find the optimised parameters of the SC, the grey wolf optimiser (GWO) algorithm is used. These parameters depend on the best-selected fitness function. Four fitness functions are selected for this purpose, which is based on the integral of the error square (ISE), the integral of the square of the time-weighted error (ITSE), the integral of the error absolute (IAE) and the integral of the absolute of the time-weighted error (TIAE) criterion. To go further in the investigation, fuzzy logic type 2 is used to get at each iteration the appropriate controller parameters that give the best performances and robustness. Simulations results are conducted to show the feasibility and efficiency of the proposed control methods.</p>
</abstract>

This paper aims to present the dynamic control of a Car-like Mobile Robot (CLMR) using Synergetic Control (SC). The SC control is used to make the linear velocity and steering velocity converge to references. Lyapunov synthesis is adopted to assure controlled system stability. To find the optimised parameters of the SC, the grey wolf optimiser (GWO) algorithm is used. These parameters depend on the best-selected fitness function. Four fitness functions are selected for this purpose, which is based on the integral of the error square (ISE), the integral of the square of the time-weighted error (ITSE), the integral of the error absolute (IAE) and the integral of the absolute of the time-weighted error (TIAE) criterion. To go further in the investigation, fuzzy logic type 2 is used to get at each iteration the appropriate controller parameters that give the best performances and robustness. Simulations results are conducted to show the feasibility and efficiency of the proposed control methods.

Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot

Department of Electronics, Faculty of Technology

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot"}

This paper aims to present the dynamic control of a Car-like Mobile Robot (CLMR) using Synergetic Control (SC). The SC control is used to make the linear...

Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot

Data publikacji: 04 lut 2022

Zakres stron: 48 - 57

Otrzymano: 25 maj 2021

Przyjęty: 17 paź 2021

DOI: https://doi.org/10.2478/ama-2022-0007

Słowa kluczowe
CLMR, Synergetic Control, Lyapunov stability, GWO, Fuzzy Logic type2

© 2022 Zoulikha Bouhamatou et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Fuzzy Synergetic Control for Dynamic Car-Like Mobile Robot

Data publikacji: 04 lut 2022

Zakres stron: 48 - 57

Otrzymano: 25 maj 2021

Przyjęty: 17 paź 2021

DOI: https://doi.org/10.2478/ama-2022-0007

Słowa kluczoweCLMR, Synergetic Control, Lyapunov stability, GWO, Fuzzy Logic type2

© 2022 Zoulikha Bouhamatou et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Słowa kluczowe
CLMR, Synergetic Control, Lyapunov stability, GWO, Fuzzy Logic type2