Optimal ANFIS-FOPID with back-stepping Controller design for wheeled Mobile Robot control

Rafik Euldji, Noureddine Batel, Redha Rebhi, Mohamed Redha Skender

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.

Keywords


wheeled mobile robot (WMR);trajectory tracking; fractional order proportional integral derivative controller (FOPID);Adaptive neuro-fuzzy inference (ANFIS); hybrid whale grey wolf optimizer (HWGO);

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