 |
A student from Control and Systems Engineering Department got MSc in excellent degree about a Cognitive Nonlinear Fractional Order PID Neural Controller Design for Mobile Robot |
A student from Control and Systems Engineering Department got MSc in excellent degree about a Cognitive Nonlinear Fractional Order PID Neural Controller Design for Mobile Robot
The discussion conducted in the discussion hall in the presence of department head assist.Prof.Dr. Azad Rahim and numbers of heads branches, professors and postgraduate students of the department
The discussion committee consisted of: -
- Assist.Prof.Dr Omar Faruq Lutfy
- Lec.Dr. Firas Abdullah.
- Assist.Prof.Dr Ahmed Sabah Abdul-Ameer
The researcher has been designed a high-level smart controller to guide the not acquaintance move robot with wheels to track down a predetermined path. This controller consists of two parts: the first one is the controller of front nutrition based on mathematical equations, and the second one is feedback controller, which is improved Nonlinear Fractional Order PID Neural Controller where generally consists of Nonlinear Fractional Order PID with technology neural network and certain toning algorithm (mobilized particles optimization algorithm and optimization of feeding bacteria algorithm) to find and toning the optimal elements of smart controller that suggested and this controller called Nonlinear Fractional Order PID Neural Controller.
This smart high-level controller is tested to track different types of tracks as (track shaped No. 8 and Igios curve) using the moved robot AD type.
It has been compared the controller results with the results of another smart high-level controller which is Nonlinear Fractional Order PID Neural Controller to check the accuracy of smart high-level controller that proposed through rate square mistakes function results of each tracks.
The stimulation results showed that have been obtained from all cases, the effectiveness of controller that is proposed through reduction of sequential error between the robot path and the desired one.
