KHULOOD E. Dagher - Academia.edu (original) (raw)
Papers by KHULOOD E. Dagher
International Journal of Intelligent Engineering and Systems, 2021
A model avionics system is a type of electronic system and equipment specifically designed for us... more A model avionics system is a type of electronic system and equipment specifically designed for use in airborne computers. This article proposes an improvement of the output performance of Unmanned Aerial Vehicle (UAV) system based on multi-PID-controller with on-line swarm optimization algorithm. The main goal of this research is to design six PID controllers to control the high nonlinear UAV quadcopter system by using an on-line Particle Swarm Optimization (PSO) algorithm that uses to learn and tune the eighteen control gain parameters based on multi-objective function. The task of the proposed on-line multi-PID-PSO feedback path-tracking controller is to obtain precisely and quickly the robust rotation speed of rotors which are used to control the attitude and altitude of the UAV quadcopter system. The results of the proposed strategy show that the on-line multi-PID-PSO controllers are accurate in terms of the UAV quadcopter takeoff and follows the Spiral and Cyclone desired paths quickly through fast obtaining of the multi-controller's parameters and smooth rotation speeds actions generating for UAV system with a minimum number of multi-cost function evolutions that minimized the tracking translation location error around ±5 cm and the overshoot of altitude did not exceed 1cm. Finally, we confirm the effectiveness of the simulation results of the proposed controller through comparison of other types of controller simulation results.
A new nonlinear self-tuning parameters algorithm for two types of the PID controllers is designed... more A new nonlinear self-tuning parameters algorithm for two types of the PID controllers is designed, the first type is traditional PID controller and the second is nonlinear PID controller, with intelligent algorithm for nonlinear magnetic levitation system (MagLev) is presented in this study. The proposed scheme of the on-line self-tuning control algorithm is based on neural network and PSO algorithm to make both controllers are an on-line adaptive PID controllers by calculating the optimal nonlinear values of the PID parameters in order to generate the best or near optimal value of the control action that will guarantee the output of the actual model accurately represents the desired position output of the magnetic ball. From numerical simulation results, the nonlinear adaptive PID controller is the best from the traditional adaptive PID controller with the proposed nonlinear self-tuning parameters algorithm in terms of fast on-line learning and tuning the nonlinear parameters of th...
Journal of Engineering and Applied Sciences
THE IRAQI JOURNAL FOR MECHANICAL AND MATERIALS ENGINEERING
From the time being, there are even instances for application of mobile robots in our lifelike in... more From the time being, there are even instances for application of mobile robots in our lifelike in home, schools, hospitals, etc. The goal of this paper is to plan a path and minimizing thepath lengths with obstacles avoidance for a mobile robot in static environment. In this work wedepict the issue of off-line wheeled mobile robot (WMR) path planning, which best route forwheeled mobile robot from a start point to a target at a plane environment represented by 2-Dwork space. A modified optimization technique to solve the problem of path planning problemusing particle swarm optimization (PSO) method is given. PSO is a swarm intelligence basedstochastic optimization technique which imitate the social behavior of fish schooling or birdflocking, was applied to locate the optimum route for mobile robot so as to reach a target.Simulation results, which executed using MATLAB 2014 programming language, confirmedthat the suggested algorithm outperforms the standard version of PSO algorithm wi...
Al-Khwarizmi Engineering Journal
This paper describes a new proposed structure of the Proportional Integral Derivative (PID) contr... more This paper describes a new proposed structure of the Proportional Integral Derivative (PID) controller based on modified Elman neural network for the DC-DC buck converter system which is used in battery operation of the portable devices. The Dolphin Echolocation Optimization (DEO) algorithm is considered as a perfect on-line tuning technique therefore, it was used for tuning and obtaining the parameters of the modified Elman neural-PID controller to avoid the local minimum problem during learning the proposed controller. Simulation results show that the best weight parameters of the proposed controller, which are taken from the DEO, lead to find the best action and unsaturated state that will stabilize the Buck converter system performance and achieve the desired output. In addition, there is a minimization for the tracking voltage error to zero value of the Buck converter output, especially when changing a load resistance by 10%.
Journal of Engineering
This paper presents a cognition path planning with control algorithm design for a nonholonomic wh... more This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.
International Journal of Intelligent Engineering and Systems, 2021
A model avionics system is a type of electronic system and equipment specifically designed for us... more A model avionics system is a type of electronic system and equipment specifically designed for use in airborne computers. This article proposes an improvement of the output performance of Unmanned Aerial Vehicle (UAV) system based on multi-PID-controller with on-line swarm optimization algorithm. The main goal of this research is to design six PID controllers to control the high nonlinear UAV quadcopter system by using an on-line Particle Swarm Optimization (PSO) algorithm that uses to learn and tune the eighteen control gain parameters based on multi-objective function. The task of the proposed on-line multi-PID-PSO feedback path-tracking controller is to obtain precisely and quickly the robust rotation speed of rotors which are used to control the attitude and altitude of the UAV quadcopter system. The results of the proposed strategy show that the on-line multi-PID-PSO controllers are accurate in terms of the UAV quadcopter takeoff and follows the Spiral and Cyclone desired paths quickly through fast obtaining of the multi-controller's parameters and smooth rotation speeds actions generating for UAV system with a minimum number of multi-cost function evolutions that minimized the tracking translation location error around ±5 cm and the overshoot of altitude did not exceed 1cm. Finally, we confirm the effectiveness of the simulation results of the proposed controller through comparison of other types of controller simulation results.
A new nonlinear self-tuning parameters algorithm for two types of the PID controllers is designed... more A new nonlinear self-tuning parameters algorithm for two types of the PID controllers is designed, the first type is traditional PID controller and the second is nonlinear PID controller, with intelligent algorithm for nonlinear magnetic levitation system (MagLev) is presented in this study. The proposed scheme of the on-line self-tuning control algorithm is based on neural network and PSO algorithm to make both controllers are an on-line adaptive PID controllers by calculating the optimal nonlinear values of the PID parameters in order to generate the best or near optimal value of the control action that will guarantee the output of the actual model accurately represents the desired position output of the magnetic ball. From numerical simulation results, the nonlinear adaptive PID controller is the best from the traditional adaptive PID controller with the proposed nonlinear self-tuning parameters algorithm in terms of fast on-line learning and tuning the nonlinear parameters of th...
Journal of Engineering and Applied Sciences
THE IRAQI JOURNAL FOR MECHANICAL AND MATERIALS ENGINEERING
From the time being, there are even instances for application of mobile robots in our lifelike in... more From the time being, there are even instances for application of mobile robots in our lifelike in home, schools, hospitals, etc. The goal of this paper is to plan a path and minimizing thepath lengths with obstacles avoidance for a mobile robot in static environment. In this work wedepict the issue of off-line wheeled mobile robot (WMR) path planning, which best route forwheeled mobile robot from a start point to a target at a plane environment represented by 2-Dwork space. A modified optimization technique to solve the problem of path planning problemusing particle swarm optimization (PSO) method is given. PSO is a swarm intelligence basedstochastic optimization technique which imitate the social behavior of fish schooling or birdflocking, was applied to locate the optimum route for mobile robot so as to reach a target.Simulation results, which executed using MATLAB 2014 programming language, confirmedthat the suggested algorithm outperforms the standard version of PSO algorithm wi...
Al-Khwarizmi Engineering Journal
This paper describes a new proposed structure of the Proportional Integral Derivative (PID) contr... more This paper describes a new proposed structure of the Proportional Integral Derivative (PID) controller based on modified Elman neural network for the DC-DC buck converter system which is used in battery operation of the portable devices. The Dolphin Echolocation Optimization (DEO) algorithm is considered as a perfect on-line tuning technique therefore, it was used for tuning and obtaining the parameters of the modified Elman neural-PID controller to avoid the local minimum problem during learning the proposed controller. Simulation results show that the best weight parameters of the proposed controller, which are taken from the DEO, lead to find the best action and unsaturated state that will stabilize the Buck converter system performance and achieve the desired output. In addition, there is a minimization for the tracking voltage error to zero value of the Buck converter output, especially when changing a load resistance by 10%.
Journal of Engineering
This paper presents a cognition path planning with control algorithm design for a nonholonomic wh... more This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.