Yazar "Mohamed, Mahmoud" seçeneğine göre listele

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    Evaluating the Performance of Fuzzy-PID Control for Lane Recognition and Lane-Keeping in Vehicle Simulations
    (MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND, 2023) Moveh, Samuel; Yahya, Khalid O. Moh.; Attar, Hani; Amer, Ayman; Mohamed, Mahmoud; Badmos, Tajudeen Adeleke
    This study presents the use of a vision-based fuzzy-PID lane-keeping control system for the simulation of a single-track bicycle model. The lane-keeping system (LKS) processes images to identify the lateral deviation of the vehicle from the desired reference track and generates a steering control command to correct the deviation. The LKS was compared to other lane-keeping control methods, such as Ziegler–Nichols proportional derivative (PD) and model predictive control (MPC), in terms of response time and settling time. The fuzzy-PID controller had the best performance, with fewer oscillations and a faster response time compared to the other methods. The PD controller was not as robust under various conditions due to changing parameters, while the MPC was not accurate enough due to similar reasons. However, the fuzzy-PID controller showed the best performance, with a maximum lateral deviation of 2 cm, a settling time of 12 s, and Kp and Kd values of 0.01 and 0.06, respectively. Overall, this work demonstrates the potential of using fuzzy-PID control for effective lane recognition and lane-keeping in vehicles.
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    Simulating LQR and PID controllers to stabilise a three-link robotic system
    (Institute of Electrical and Electronics Engineers Inc., 2022) Mohamed, Mahmoud; Anayi, Fatih; Packianather, Michael; Samad, Bdereddin Abdul; Yahya, Khalid
    The study reported here concerns stabilisation control in a multiple-link robotic gymnast (Robogymnast) MATLAB model. The Robot Gymnast represents a high-complexity, triple-inverted pendulum system. The gymnast imitates a human gymnast hanging from an elevated bar and swinging up to increasing heights until it reaches full rotation. The Robogymnast is a 3-link structure, with components analogous to the legs, arms and torso, and has 3 joints: one operating passively, without power; and two other joints which use power. The overhead joint is a significant problem for the controlled motion of the robot and in achieving the smoothness necessary in its operation. The robot gymnast system has been built in reality. However, this paper will focus on the MATLAB model, and illustrate systems features as well as linearisation of the mathematical model for the system, the paper will investigate ways of identifying state space using Lagrange equations. A proportional-integral-derivative controller is applied to operate the system, to measure the degree of response stabilisation. Additionally, use is made of MATLAB Simulink for system simulations and displaying results for overshoot and rise and settle times. The primary purpose of this study was to investigate how linear quadratic regulators and proportional-integral-derivative controllers can be applied in robotic gymnastics. © 2022 IEEE.