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Control of wheeled mobile robot in restricted environment

Chang, Yong En and Ali, Mohammed A. H. (2018) Control of wheeled mobile robot in restricted environment. In: 4th Asia Pacific Conference on Manufacturing Systems and the 3rd International Manufacturing Engineering Conference, APCOMS-iMEC 2017, 7-8 December 2017 , Yogyakarta, Indonesia. pp. 1-7., 319 (1). ISSN 17578981

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Abstract

This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

Item Type: Conference or Workshop Item (Speech)
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Control systems; Controllers; Force control; Fuzzy logic; Manufacture
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 21 May 2018 05:32
Last Modified: 21 May 2018 05:32
URI: http://umpir.ump.edu.my/id/eprint/20462
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