Jasmin Velagic

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This paper describes how soft computing methodologies such as fuzzy logic, genetic algorithms and the Dempster–Shafer theory of evidence can be applied in a mobile robot navigation system. The navigation system that is considered has three navigation subsystems. The lower-level subsystem deals with the control of linear and angular volocities using a(More)
Heat and air conditioning losses in buildings and factories lead to a large amount of wasted energy. The Action Plan for Energy Efficiency of the Commission of the European Communities (2008) estimates that the largest cost-effective energy savings potential lies in residential (≈ 27%) and commercial (≈ 30%) buildings. Imagine a technology that creates a(More)
This paper presents a design of the fuzzy logic control for a permanent magnet DC motor. The main objective is to achieve a robust controller under disturbances and unmodeled dynamics acting, such as load torque, dead zone, measurement noise and nonlinearities. The whole system contains the DC motor, driver, tachogenerator, external load and microprocessor(More)
This paper develops a fuzzy logic position controller which membership functions are tuned by genetic algorithm. The main goals are to ensure both successfully velocity and position trajectories tracking between the mobile robot and the reference cart. The proposed fuzzy controller has two inputs and two outputs. The first input represents the distance(More)
In this paper we proposed a new stable control algorithm for mobile robot trajectory tracking. The stability conditions are guaranteed by Lyapunov theory. The control parameters of backstepping algorithm are adjusted using genetic algorithm. Some of them are represented by unknown functions which are generated by neural network. The performance of the(More)
The purpose of this paper is to analyse and implement PI control for the permanent magnet DC motor. The control algorithm is realised using Siemens S7-200 programmable logic controller (PLC). The complex motor system is composed of DC motor, driver and tachogenerator. The main objective is to achieve a satisfactory time response of the system output under(More)