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A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
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Abstract

This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error. The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers. Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is more accurate in terms of fast on-line finding and tuning  parameters of the controller lead to obtaining smoothness with small spikes control action as well as minimizing tracking pose error of the wheeled mobile robot than the performance of nonlinear back-stepping technique.

 

Keywords: Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots.

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Publication Date
Sun May 24 2026
Journal Name
Journal Of Engineering
Assessment of Equivalent Grain Diameter for Soil Specific Surface Determination
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Publication Date
Fri Jan 01 2016
Journal Name
Results In Physics
An efficient iterative method for solving the Fokker–Planck equation
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Crossref (11)
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Publication Date
Fri Aug 20 2021
Journal Name
Iraqi Journal Of Laser
Fractional CO2 Laser for Treatment of Female Stress Urinary Incontinence
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Publication Date
Mon Aug 28 2023
Journal Name
Journal Of Planner And Development
International experiences inhe tourism place meaking for eco-tourism purposes
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        The research paper deals with the role of the place making in eco-tourism through a review of international experiences in the eco-tourism industry and its contribution to advancing the reality of tourism there, and attracting the largest number of tourists.  The study is divided into five axes: the first is a study of related concepts, and the second is a study of global experiences, which included three countries: (South Bank (Gabriel's Wharf) - London, Rotterdam in the Netherlands, and dealt with each of Happy Streets and Kendrick Mills, and then the Perak River tourist corridor - Malaysia).  As for the third axis, it is concerned with analyzing these experiences to reach th

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Publication Date
Thu Oct 01 2015
Journal Name
Iraqi Journal Of Science
improvement and partial purification for pectinase production from pseudomonas aeuroginosa
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Publication Date
Tue Mar 30 2021
Journal Name
Journal Of Interdisciplinary Mathematics
Exactness for complex sequence in the skew shape (8,8)/(1,0)
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Journal Name
Indian Journal Of Pure & Applied Physics
Diferuloymethane anchored anatase TiO2 nanoparticle for dye sensitized solar cell
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Publication Date
Mon Jun 01 2020
Journal Name
Journal Of Planner And Development
An Analytical Study for Urban Gentrification on Local Urban Centers
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The urban Gentrification  is an inclusive global phenomenon to restructure the cities on the overall levels, the research to propose a specific study about the concept of urban Gentrification in the cities and showcasing its, specifications, and results, and how to deal with the variables that occur on cities through improvements as part of urban renewal projects, then the general axis of the research is shrinked, choosing the urban centers as the most important areas that deal with the urban Gentrification process due to its direct connection with indivisuals and social changes, and to process the specific axis of the research theses and studies will be showcased that discuss the topic in different research directions, and emerged

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Publication Date
Tue May 01 2012
Journal Name
First Eage Workshop On Iraq - Hydrocarbon Exploration And Field Development
Microfacies and Petrographic study for Yamama formation in Ratawi field
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Sun May 24 2026
Journal Name
Journal Of College Of Law For Legal And Political Sciences
Management's responsibility for breach of investment administrative contracts
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