Authors: Osama Elshazly; Zakarya Zyada; Abdelfattah Mohamed
Addresses: Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menouf - Menou?a University, Egypt; Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt ' Department of Mechanical Power Engineering, Faculty of Engineering, Tanta University, Siberpay, Tanta 31511, Egypt; Faculty of Mechanical Engineering (FKM), Universiti Teknologi Malaysia (UTM), 81310 Skudai, Johor, Malaysia ' Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology (EJUST), P.O. Box 179, New Borg ElArab 21934, Alexandria, Egypt; Department of Electrical Engineering, Faculty of Engineering-Assiut University, Assiut 71516, Egypt
Abstract: In this paper, a genetic based optimisation of nonlinear controller parameters for the purposes of controlling a skid steering mobile robot is introduced and also, the classical kinematics model is enhanced as an extended kinematics model to include the slip conditions. The controller is simple in terms of design and implementation. In addition, it can be used for different types of reference inputs. Moreover, it maintains good performance and has the stronger robustness to variable disturbances. Furthermore, the proposed controller is used to control an extended kinematics model to test the validity and enhancement of the controller with different slip parameters. Simulation results are included.
Keywords: genetic algorithm; nonlinear controller tuning; skid steering mobile robots; slip conditions.
International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.4, pp.250 - 269
Received: 21 Nov 2015
Accepted: 17 Mar 2016
Published online: 17 Jul 2017 *