Performance of an HSDBC Optimised Hybrid Fuzzy Logic Controller for a Path Tracking Unicycle Robot

Authors

  • Abdullah Almeshal Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Tarek Altowaim Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Feda Alshahwan Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Rashid Alzuabi Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Anfal Alansari Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Asmaa Alkandri Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Athari Alotaibi Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author

Keywords:

Hybrid controller, fuzzy logic controller, optimisation, unicycle robot, path tracking

Abstract

In this paper, we discuss the performance of applying hybrid spiral dynamic bacterial chemotaxis (HSDBC) optimisation algorithm on an intelligent controller for a differential drive robot. A unicycle class of differential drive robot is utilised to serve as a basis application to evaluate the performance of the HSDBC algorithm. A hybrid fuzzy logic controller is developed and implemented for the unicycle robot to follow a predefined trajectory. Trajectories of various frictional profiles and levels were simulated to evaluate the performance of the robot at different operating conditions. Controller gains and scaling factors were optimised using HSDBC and the performance is evaluated in comparison to previously adopted optimisation algorithms. The HSDBC has proven its feasibility in achieving a faster convergence toward the optimal gains and resulted in a superior performance.

References

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Published

2015-02-28

Issue

Vol.5, No.1 (Jan/Feb 2015)

Section

Articles

How to Cite

Performance of an HSDBC Optimised Hybrid Fuzzy Logic Controller for a Path Tracking Unicycle Robot. (2015). International Journal of Current Engineering and Technology, 5(1), 85-89. https://ijcet.evegenis.org/index.php/ijcet/article/view/1740