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This paper presents an optimal kinematic controller based on genetic algorithm (GA)-ant colony optimization (ACO) hybrid metaheuristic algorithm for four-wheeled omnidirectional mobile robots. The optimal parameters of kinematic controller are obtained by minimizing the performance index using the proposed GA-ACO hybrid algorithm. GA has been combined with ACO in evolving new solutions by applying...
A configuration control problem of a forklift vehicle considering input disturbances, measurement noises, and modeling errors is investigated. A switching algorithm that controls the vehicle's asymptotical convergence from an initial to a goal configuration and renders robust performance is proposed. A configuration error space representing distance and orientation errors is introduced. The error...
In this paper a discrete-time sliding mode control for the trajectory tracking problem of wheeled mobile robots is presented. The wheeled mobile robot taken into account was Powerbot. PowerBot is a mobile platform with two differential driving wheels (2DW) and two balancing caster wheels. It is an automated guided vehicle specially designed and equipped for autonomous, intelligent delivery and handling...
This paper proposed the path tracking design of a mobile robot based on Takagi-Sugeno (T-S) fuzzy modeling method and sliding mode control. The T-S fuzzy model is utilized to represent the equation of motion of the mobile robot, and the concept of parallel distributed compensation (PDC) is applied to design the T-S fuzzy controller. The stability of the system is guaranteed by linear matrix inequalities...
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