Decentralized Motion Control for Omnidirectional Wheelchair Tracking Error Elimination Using PD-Fuzzy-P and GA-PID Controllers.
Wafa BataynehYusra AbuRmailehPublished in: Sensors (2020)
Keyphrases
- optimization algorithm
- motion control
- control system
- pid controller
- tracking error
- fuzzy controller
- closed loop
- control scheme
- multi objective
- fuzzy logic
- control law
- fuzzy control
- fuzzy logic controller
- nonlinear systems
- mobile robot
- control method
- robot manipulators
- robot control
- control algorithm
- variable structure
- control strategy
- genetic algorithm ga
- evolutionary algorithm
- genetic algorithm
- membership functions
- fuzzy sets
- fuzzy rules
- control parameters
- soft computing
- real time
- fuzzy systems
- autonomous navigation
- neural network
- adaptive control
- rule base
- visual servoing
- input output
- fuzzy clustering
- evolutionary computation
- vision system
- artificial neural networks
- rbf neural network
- fuzzy model
- ant colony optimization