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• W2002303956 abstract "Kertas kerja ini menerangkan satu pendekatan baru dalam pengawalan lasak robot mudah gerak beroda tak holonomik (WMR) dengan merujuk kepada keupayaan robot menjejaki kehendak trajektori walaupun dikenakan gangguan terhadapnya. Ruang lingkup kerja sebenar robot mudah gerak adalah tidak selalunya ideal, malahan dipenuhi dengan pelbagai gangguan (sama ada diketahui ataupun tidak) seperti geseran dalaman, permukaan yang tidak rata, ketidaktentuan, dan perubahan terhadap nilai parameter sistem. Dalam kajian ini, suatu kawalan daya aktif pintar (IAFC) yang melibatkan penggunaan logik kabur telah diperkenalkan untuk tujuan menghapuskan gangguan yang wujud dan seterusnya memperbaiki ciri penjejakan trajektori sistem. Skim IAFC telah digunakan bersama dengan pengawal pecutan terlerai (RAC) untuk mempertingkatkan lagi kejituan dan kelasakan sistem WMR. Logik kabur telah digunakan untuk menganggar matriks inersia yang diperlukan dalam gelung suap balik dalaman skim IAFC. Kelasakan dan keberkesanan pengawal IAFC telah diselidiki dan diuji dengan pelbagai keadaan pembebanan serta pengoperasian. Skim IAFC juga dibandingkan dengan dua sistem kawalan lain untuk tujuan pengukurlarasan. Kata kunci: Kawalan daya aktif, logik kabur, kawalan pecutan terlerai, kelasakan, robot mudah gerak beroda tak holonomikThe paper describes a new and novel approach to control a nonholonomic wheeled mobile robot (WMR) robustly with reference to its trajectory tracking capability in the wake of introduced disturbances. The workspace of a mobile robot is not always ideal but more often than not, filled with disturbances (known or unknown) such as inherent friction, irregular surface terrain, uncertainties, and parametric changes. An intelligent active force control (IAFC) scheme incorporating fuzzy logic has been proposed in the study to counter the disturbances and consequently improve the trajectory tracking characteristic of the system. In the study, IAFC scheme is employed together with a resolved acceleration control (RAC) that has been shown to provide a very robust and accurate performance of the WMR. Fuzzy logic is explicitly used for the estimation of the inertia matrix that is required in the inner feedback control loop of the IAFC scheme. The robustness and effectiveness of the proposed control scheme are investigated considering various forms of loading and operating conditions. The IAFC scheme has also been compared to two other control methods for the purpose of benchmarking.Key words: Active force control, fuzzy logic, resolved acceleration control, robust, nonholonomic wheeled mobile robot" @default.
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• W2002303956 date "2006-06-01" @default.
• W2002303956 modified "2023-09-27" @default.
• W2002303956 title "Robust Intelligent Active Force Control Of Nonholonomic Wheeled Mobile Robot" @default.
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• W2002303956 doi "https://doi.org/10.11113/jt.v44.375" @default.
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