Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control

Fuad, A.F.M.; Mahmood, Iskandar Al-Thani; Ahmad, Salmiah; Norsahperi, Nor Mohd Haziq; Toha, Siti Fauziah; Akmeliawati, Rini; Darsivan, Fadly Jashi

doi:10.1088/1757-899x/184/1/012050

Cited by 13 publications

(6 citation statements)

References 3 publications

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“…There are several ways that can be done to practice critical thinking skills, namely reading critically, increasing the power of analysis of a problem and providing solutions with good and bad considerations; c) develop the ability to observe; d) increase curiosity by asking quality questions that is questions that do not directly have a right or wrong answer or not just one right answer so that it demands students to think hard. Critical thinking skills can also be trained with learning processes that are oriented towards students so that they are more active [15][16][17]. Creative problem solving is one of the learning models that can train students' critical thinking skills as research conducted by Nursiami & Soeprodjo [18]; Puspitasari [19]; Indayatmi [20]; and Subakir [21].…”

Section: Research Results and Discussionmentioning

confidence: 99%

Analysis of Critical Thinking Skills in Junior High School Students

Kamsinah¹,

Abdullah²,

Suryajaya³

2020

JAEP

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The increasingly complex development era provides demands to the world of education in order to produce competent Human Resources in various competencies, especially the potential for critical thinking. The 21 st century education process is not just an educational process to make children know and understand a certain amount of knowledge. 21 st century learning includes critical thinking skills, creative thinking skills, communication and collaboration. Critical thinking skills are high level thinking skills logically and critically using deep reasoning to consider emerging ideas. The method used in this research is descriptive research method. The level of mastery of students' critical thinking skills is obtained by dividing the scores obtained by students with a maximum score multiplied by one hundred percent. Based on the results of data analysis and discussion it can be concluded that the critical thinking skills of SMPN 1 Piani students are still relatively low.

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Section: Research Results and Discussionmentioning

confidence: 99%

Analysis of Critical Thinking Skills in Junior High School Students

Kamsinah¹,

Abdullah²,

Suryajaya³

2020

JAEP

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“…The mecanum wheel consists of 9 rollers made up of rubber material. At a given moment, the small rolling area of the roller touches the ground, which generates enough friction to locomote the device [38]. However, as the load was increased to 40 kg, the rollers tend to deform.…”

Section: A Influence Of Load On Distance Traveled By the Devicementioning

confidence: 99%

Design and development of a mecanum-built portable perturbation-based balance training device

MATHUNNY¹,

Srinivasan²,

Devaraj³

et al. 2023

Preprint

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“…The rolling constraints of an individual Mecanum wheel can be grouped into the sin- The rolling constraint of the Mecanum wheel forces all rollers to move along the ground direction. There must be a certain number of rollers rotating so that there is pure rolling at the contact point [10,21]. The velocity direction of the wheels is decomposed and deduced:…”

Section: Kinematic Modelmentioning

confidence: 99%

“…According to the constraints of the status and input, WMR control law can achieve optimal control. In [9][10][11][12], MPC applied to an omni-directional wheeled chassis is introduced. MPC can realize accurate control of complex paths.…”

Section: Introductionmentioning

confidence: 99%

Path Tracking Control of an Omni-Directional Service Robot Based on Model Predictive Control of Adaptive Neural-Fuzzy Inference System

Pang

Luo

et al. 2021

Applied Sciences

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In this paper, model predictive control (MPC) based on an adaptive neural-fuzzy inference system (ANFIS) is proposed to realize control of an omni-directional service robot in path tracking. The weight of the cost function in a traditional MPC needs to be manually adjusted, and it is difficult to adjust to a satisfactory value. In order to improve the performance and the control accuracy of MPC, a fuzzy system trained by ANFIS is used to adaptively adjust the weight of MPC’s cost function to reduce the error in the process of path tracking. The different simulation experiments are conducted to verify the performance of the proposed algorithm. The experimental results show that the distance error of MPC based on ANFIS is reduced by more than 50% under different paths compared with a traditional MPC, and the angle error is reduced by more than 70%. Meanwhile, the stability is increased by around 60%. The results show the feasibility and superiority of MPC based on ANFIS.

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Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control

Cited by 13 publications

References 3 publications

Analysis of Critical Thinking Skills in Junior High School Students

Analysis of Critical Thinking Skills in Junior High School Students

Design and development of a mecanum-built portable perturbation-based balance training device

Path Tracking Control of an Omni-Directional Service Robot Based on Model Predictive Control of Adaptive Neural-Fuzzy Inference System

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