Version 1
: Received: 20 June 2024 / Approved: 20 June 2024 / Online: 21 June 2024 (02:48:04 CEST)
How to cite:
Finecomess, S. A.; Gebresenbet, G.; Alwan, H. M. Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian. Preprints2024, 2024061465. https://doi.org/10.20944/preprints202406.1465.v1
Finecomess, S. A.; Gebresenbet, G.; Alwan, H. M. Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian. Preprints 2024, 2024061465. https://doi.org/10.20944/preprints202406.1465.v1
Finecomess, S. A.; Gebresenbet, G.; Alwan, H. M. Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian. Preprints2024, 2024061465. https://doi.org/10.20944/preprints202406.1465.v1
APA Style
Finecomess, S. A., Gebresenbet, G., & Alwan, H. M. (2024). Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian. Preprints. https://doi.org/10.20944/preprints202406.1465.v1
Chicago/Turabian Style
Finecomess, S. A., Girma Gebresenbet and Hassan Mohammed Alwan. 2024 "Modelling the Dynamics of a Wheeled Mobile Robot System Using a Hybridisation of Fuzzy Linear Quadratic Gaussian" Preprints. https://doi.org/10.20944/preprints202406.1465.v1
Abstract
Wheeled mobile robot dynamics and suitable controller design are challenging but rewarding fields of study. By understanding the dynamics of wheeled mobile robots, it could be possible to design suitable hybrid control schemes for wheeled mobile robots. Since hybrid control schemes involve combining individual control methods to create a more effective overall control strategy. This can be done in a variety of ways, such as using fuzzy linear quadratic Gaussian control. We were therefore inspired to create dynamic models and their controller designs for the wheeled mobile robot by examining the dynamics of the wheeled mobile robot. The novelty of the current paper is to hybridize the different control schemes for wheeled mobile robots in order to get better performance. Entire systems models were simulated in a MATLAB/SIMULINK environment. The results obtained for the settling time response by FLQG were 87.1% over LQG; this study compared the effectiveness of current and previous FLQG controllers in external disturbances and found peak amplitude improvements of 71.25%. Therefore, the proposed controller is suitable for use with the wheeled mobile robot.
Keywords
wheeled mobile robot; optimisation; position; orientation; Lorenz law of attraction
Subject
Engineering, Energy and Fuel Technology
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
