Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism

Goher, Khaled and Fadlallah, Sulaiman (2017) Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism. Robotics and Biomimetics . ISSN 2197-3768

Full content URL: https://jrobio.springeropen.com/articles/10.1186/s...

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Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism
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Abstract

This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modelling approach, is simulated in MATLAB/Simulink® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.

Additional Information:This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords:Two-wheeled machine, Inverted pendulum, Two-directional handling, Lagrangian modeling, PID, BFO
Subjects:H Engineering > H671 Robotics
H Engineering > H100 General Engineering
Divisions:College of Science > School of Engineering
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ID Code:33059
Deposited On:30 Aug 2018 12:49

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