02383nmm a2200313 a 4500 vtls000098388 KUKTEM 20251117113331.0 161213s2016 my fq d 001 0 eng d THE0005078(Local) 201905101556 hanafiah 201712071625 saini 201612131147 saini UMP FKP .T56 2016 r Bc. CD 10407 Tiong, Lung Huat A study of mobile robot motion control using active force control [electronic resource] / Tiong Lung Huat Kuantan, Pahang : UMP, 2016 1 computer disc : digital data ; 12 cm. Faculty of Manufacturing Engineering Theses Gred B Project Paper (Bachelor of Engineering in Mechatronis Engineering (Hons.)) -- Universiti Malaysia Pahang – 2016 The project describes a new strategy to control the motion of wheeled mobile robot (WMR) using active force control (AFC) based on its capability to eliminate the presence of disturbances. A proportional derivative active force control (PDAFC) scheme is incorporating with artificial intelligent techniques, namely, fuzzy logic (FL) to effectively calculate the inertia matrix which is multiplied by acceleration to give the actual torque. The heading rotation of a wheeled mobile robot is not always perfect because the workspace of an object is normally filled with known or unknown disturbances. The robustness and effectiveness of the proposed control scheme are investigated and compared with traditional controller like PD controller. The simulation study verify that the proposed system is performing excellently even in the presence of uncertainties. The simulated system was validated through simulation study carried out on circle and leaf trajectory by using software interface (MATLAB / SIMULINK). The obtained results of AFC and PDAFC controller demonstrate better performance in comparison with PD controller. Item in PDF format Faculty of Manufacturing Engineering Dissertations Universities and Colleges Dissertations Theses http://ecollib.ump.edu.my/id/eprint/4099 Access in library only 0 0 0 1 20000 20000 2019-09-04 0 FKP .T56 2016 r Bc. | CD 10407 0000115922 2019-09-04 00:00:00 1 2019-09-04 PSM VIRTUA40 6898 6904 VTLSSORT0080*0200*0400*0900*0901*1000*2450*2600*3000*5000*5001*5020*5200*5380*6100*6500*6501*8560*9992