Modeling and control of bouncing mechanism for spherical mobile robot using PSO-PID algorithm /
Mobile robots are widely used in a variety of nonindustrial applications, such as security surveillance, search and rescue, children education, and entertainment. Spherical mobile robots are much more robust compared to conventional mobile robots and exhibit number of advantages with respect to whee...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2018
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| Subjects: | |
| Online Access: | Click here to view 1st 24 pages of the thesis. Members can view fulltext at the specified PCs in the library. |
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| Summary: | Mobile robots are widely used in a variety of nonindustrial applications, such as security surveillance, search and rescue, children education, and entertainment. Spherical mobile robots are much more robust compared to conventional mobile robots and exhibit number of advantages with respect to wheeled and legged mechanisms. Spherical mobile robot that can bounce/jump will produce excited phenomena that can be contributed to applications such as security surveillance, search and rescue. This is partly due to its manoeuvrability in uneven terrain and harmful environment. However, the dynamics of spherical robot with bouncing mechanism can be described by highly complex nonlinear equations, which is difficult to be dealt with. Many of the modeling approaches before have come out with mathematical equations which assumptions made that can restrict the actual performance of the nonlinear system. This study embarks on the design, development and control of a jumping spherical robot. The study was initiated with 3D modelling using modern tool, i.e. Solidwork. The steps continued with a systematic optimization technique where the material, diameter and number of spokes were optimized. Subsequently, the hardware of the robot was developed based on the optimized parameters. The open loop experimental performance analysis was conducted to observe its performance. It was observed that the developed robot is able to jump 94 mm which is 39.17% from its diameter. An empirical model was developed to quantify the maximum height attainable upon compressing the robot at a certain amount. From the data obtained, a jumping model for the designed spherical robot was derived and the model was further used for control simulation. In the simulation performance analysis, a closed loop positional control simulation was evaluated through classical control architecture namely P, PI, PD and PID. It was established that the PID controller works best in controlling the servo angle with the least steady-state error which is the performance criteria set. The capability of a metaheuristic optimisation technique i.e. Particle Swarm Optimisation (PSO) was further implemented in tuning the PID control gains to obtain better steady-state error results. Results show that PID PSO-optimised gains has produced a much better result which is having improvement of 99.86% in rise time and 99.16% in settling time compared to the classical PID controller. |
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| Physical Description: | xii, 57 leaves : colour illustrations ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 55-56). |