Auday Al-Mayyahi

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This article proposes an adaptive neuro-fuzzy inference system (ANFIS) for solving navigation problems of an autonomous ground vehicle (AGV). The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used(More)
An optimal control technique is proposed to address the problem of path tracking of an autonomous ground vehicle. This technique utilizes a Fractional Order Proportional Integral Derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to(More)
Arobust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are(More)
Trajectory tracking is an essential capability of robotics operation in industrial automation. In this article, an artificial neural controller is proposed to tackle trajectory-tracking problem of an autonomous ground vehicle (AGV). The controller is implemented based on fractional order proportional integral derivative (FOPID) control that was already(More)
In recent years intelligent soft computing technique such as fuzzy inference system (FIS) is proven to be an efficient and suitable when applied to variety of systems. In this paper, we intend to formulate two fuzzy inference systems; sensors based navigation technique for an autonomous vehicle in cluttered dynamic environment. The first FIS controller(More)
Precise positioning and repeatability of movement for stepper motors require designing a robust control system. To achieve that, an analytical model of a four-phase variable reluctance stepper motor is presented. A proposed open-loop driving circuit is designed to control the motion of a variable reluctance stepper motor. The driving circuit has an ability(More)
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