| 000 | 02383nmm a2200313 a 4500 | ||
|---|---|---|---|
| 001 | vtls000098388 | ||
| 003 | KUKTEM | ||
| 005 | 20251117113331.0 | ||
| 008 | 161213s2016 my fq d 001 0 eng d | ||
| 020 | _aTHE0005078(Local) | ||
| 039 | 9 |
_a201905101556 _bhanafiah _c201712071625 _dsaini _y201612131147 _zsaini |
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| 040 | _aUMP | ||
| 090 | _aFKP .T56 2016 r Bc. | ||
| 090 | _aCD 10407 | ||
| 100 | 1 | _aTiong, Lung Huat | |
| 245 | 1 | 2 |
_aA study of mobile robot motion control using active force control _h[electronic resource] / _cTiong Lung Huat |
| 260 |
_aKuantan, Pahang : _bUMP, _c2016 |
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| 300 |
_a1 computer disc : _bdigital data ; _c12 cm. |
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| 500 | _aFaculty of Manufacturing Engineering | ||
| 500 | _aTheses Gred B | ||
| 502 | _aProject Paper (Bachelor of Engineering in Mechatronis Engineering (Hons.)) -- Universiti Malaysia Pahang – 2016 | ||
| 520 | 3 | _aThe 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. | |
| 538 | _aItem in PDF format | ||
| 610 | 2 | 0 |
_aFaculty of Manufacturing Engineering _xDissertations |
| 650 | 0 |
_aUniversities and Colleges _xDissertations |
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| 650 | 0 | _aTheses | |
| 856 | 4 | 0 |
_uhttp://ecollib.ump.edu.my/id/eprint/4099 _zAccess in library only |
| 999 |
_aVIRTUA40 _c6898 _d6904 |
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| 999 | _aVTLSSORT0080*0200*0400*0900*0901*1000*2450*2600*3000*5000*5001*5020*5200*5380*6100*6500*6501*8560*9992 | ||