Optimal ANFIS-FOPID with back-stepping Controller design for wheeled Mobile Robot control
- Authors
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Rafik Euldji
University of Yahia Fares, Medea 26000 Algeria
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Noureddine Batel
University of Yahia Fares, Medea 26000 Algeria
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Redha Rebhi
University of Yahia Fares, Medea 26000 Algeria
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Mohamed Redha Skender
University of Yahia Fares, Medea 26000 Algeria
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- Abstract
- This paper suggests a design of an optimal fractional adaptive Neuro- Fuzzy inference system (ANFIS-FOPID) controller for dealing with the dynamics of the wheeled mobile robot (WMR).Tuning parameters of the controller is a challenging task , a hybrid meta-heuristic optimization algorithm has been introduced. This evolutionary technique is known as the hybrid whale grey wolf optimizer (HWGO). Simulation results in MATLAB–Simulink environment revealed the highest efficiency of the proposed ANFIS-FOPID technique compared to the fractional proportional integral derivative (FOPID) in terms of settling and rise time, overshoot, as well as steady-state error. A five shape path and zigzag path have highlighted the over performance of mentioned controller. Finally, to accomplish our work a back-stepping control technique is added for the kinematic control, a quadrifolium path was made to illustrate the capability of the mentioned controller.
- References
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- Published
- 2022-06-22
- Issue
- Vol. 24 No. 2 (2022)
- Section
- Articles