Open AccessOptimal Backstepping-FOPID Controller Design for Wheeled Mobile Robot
Author(s) -
Rafik Euldji,
Noureddine Batel,
Redha Rebhi,
Noureddine Kaid,
Chutarat Tearnbucha,
Weerawat Sudsutad,
Giulio Lorenzini,
Hijaz Ahmad,
Houari Ameur,
Younes Menni
Publication year - 2022
Publication title -
journal européen des systèmes automatisés/journal européen des systèmes automaitsés
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.16
H-Index - 20
eISSN - 2116-7087
pISSN - 1269-6935
DOI - 10.18280/jesa.550110
Subject(s) - particle swarm optimization , settling time , backstepping , control theory (sociology) , overshoot (microwave communication) , computer science , controller (irrigation) , bat algorithm , trajectory , mobile robot , matlab , mathematical optimization , robot , control engineering , algorithm , engineering , mathematics , step response , artificial intelligence , adaptive control , control (management) , telecommunications , agronomy , physics , astronomy , biology , operating system
A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem of wheeled mobile robots (WMR) is examined in this study. Tuning parameters is a challenging task, to overcome this issue a hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique is known as the hybrid whale grey wolf optimizer (HWGO), which benefits from the performances of the two traditional algorithms, the whale optimizer algorithm (WOA) and the grey wolf optimizer (GWO), to obtain the most suitable solution. The efficiency of the HWGO algorithm is compared against those of the original algorithms WOA, GWO, the particle swarm optimizer (PSO), and the hybrid particle swarm grey wolf optimizer (HPSOGWO). The simulation results in MATLAB–Simulink environment revealed the highest efficiency of the suggested HWGO technique compared to the other methods in terms of settling and rise time, overshoot, as well as steady-state error. Finally, a star trajectory is made to illustrate the capability of the mentioned controller.