Journal FORTEI-JEERI
Vol. 1 No. 2 (2020): FORTEI-JEERI

The ACA-based PID Controller for Enhancing a Wheeled-Mobile Robot

Heru Suwoyo (a:1:{s:5:"en_US"
s:23:"Universitas Mercu Buana"
})
Yingzhong Tian (Unknown)
Andi Adriansyah (Unknown)
Muhammad Hafizd Ibnu Hajar (Unknown)
Tong Zhou (Unknown)

Article Info

Publish Date
28 Dec 2020

Abstract

Wall-following control of mobile robot is an important topic in the mobile robot researches. The wall-following control problem is characterized by moving the robot along the wall in a desired direction while maintaining a constants distance to the wall. The existing control algorithms become complicated in implementation and not efficient enough. Ant colony algorithm (ACA), in terms of optimizing parameters, has a faster convergence speed and features that are easy to integrate with other methods. This paper adopts ant colony algorithm to optimize PID controller, and then selects ideal control parameters. The simulation results based on MATLAB show that the control system optimized by ant colony algorithm has higher efficiency than the traditional control systems in term of RMSE.

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Journal Info
Journal FORTEI-JEERI
Website

Abbrev

fortei-jeeri

Publisher

Forum Pendidikan Tinggi Teknik Elektro Indonesia Regional Jawa Timur

Subject

Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Description

Power System; Electric Power Generation, Transmission and Distribution, Power Electronics, Power system analysis, Protection system, Power Quality, Electrical machine and drives, Power Economic, Renewable Energy, Condition Monitoring and Diagnostics, and Energy Systems. Automation and Control; ...