J. Al, S., Duboni, , Y. Abdalla, T. (2010). Genetic Algorithm Based Optimal Design of a PID Controller for trajectory tracking of a Mobile Robot. , 10(1), 54-65.
Seaar J. Al; Duboni; Turki Y. Abdalla. "Genetic Algorithm Based Optimal Design of a PID Controller for trajectory tracking of a Mobile Robot". , 10, 1, 2010, 54-65.
J. Al, S., Duboni, , Y. Abdalla, T. (2010). 'Genetic Algorithm Based Optimal Design of a PID Controller for trajectory tracking of a Mobile Robot', , 10(1), pp. 54-65.
J. Al, S., Duboni, , Y. Abdalla, T. Genetic Algorithm Based Optimal Design of a PID Controller for trajectory tracking of a Mobile Robot. , 2010; 10(1): 54-65.

Genetic Algorithm Based Optimal Design of a PID Controller for trajectory tracking of a Mobile Robot

Basrah Journal for Engineering Science
Article 1, Volume 10, Issue 1, 2010, Pages 54-65    PDF (0 K)
Authors
Seaar J. Al; ; Turki Y. Abdalla
Abstract
This paper deals with the modeling and control strategies of the motion of wheeled mobile robot. The model of the mobile robot has two driving wheels and the azimuth and velocity are dependently controlled by two PID controllers. The PID controller is one of the earliest and famous industrial controllers. It has many advantages: It is economic, simple easy to be tuned and parameter. The tuning of these controllers is governed by system nonlinearities and continuous parameter variations. 1 his paper deals with the optimal design of a PID controller for path tracking of mobile robot by using genetic algorithms (GA). The designed controller is tested for different paths.
Statistics
Article View: 117
PDF Download: 18


Journal Management System. Powered by iJournalPro.com