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This paper aims to present the dynamic control of a Car-like Mobile Robot (CLMR) using Synergetic Control (SC). The SC control is used to make the linear velocity and steering velocity converge to references. Lyapunov synthesis is adopted to assure controlled system stability. To find the optimised parameters of the SC, the grey wolf optimiser (GWO...
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... Based on the statistical performance indicators acquired, designing the model and estimate using the ANFIS technique can be done with a high degree of dependability [21]. The accuracy of prediction is determined by calculating statistical data from the values of experimental and predicted models [22]. The model's performance in the experiment is assessed using R2 and RMSE values [23]. ...
Nano-additives are generally blended with the base lubricant oil, to enhance the lubricant characteristics such as wear, coefficient of friction (CoF), thermal conductivity, density, and flash and fire points of the lubricant. In this research, nano-additives of SiO2, Al2O3 and TiO2 are blended with the base SN500 oil with different proportions of mixture. When these three nanoparticles are used together in base oil, they enhance most of the desirable properties of a lubricant; 27 samples with three different levels of a mixture of nano-additives are identified using factorial design of experiments. The experimental outcomes for the selected three characteristics of interest of density, flash point and fire point are determined. Conducting experiments for 'n' number of samples with different proportions of mixture of nano-additives is a cumbersome, expensive and time-consuming process, in order to determine the optimum mix of nano-additives for the desirable level of characteristics of interest. In this research, attempt has been made to apply fuzzy logic to simulate a greater number of samples with different proportions of a mixture of three nano-additives with the respective outcomes of characteristics of three thermophysical properties. Out of the numerous samples simulated using fuzzy logic, the sample with the optimum mix of three nano-additives of SiO2, Al2O3 and TiO2 blended with the base oil is identified for the desirable level of characteristics of interest of density, flash point and fire point. The values of the identified sample are found to be at the desirable level of 0.9008 gm/ml, 231C and 252C, respectively.
... Humaidi et all [13] develop a theory of synergetic control to control a robot arm operated by pneumatic artificial muscles (PMA) in opposing biceps/triceps positions. Zoulikha et all [14] introduced a dynamic control of a Car-like Mobile Robot (CLMR) u based on Synergetic Control (SC) to make the velocities of the robot converge to references. The authors used the grey wolf optimizer (GWO) algorithm and fuzzy logic type 2 to find the optimized parameters of the SC that give the best performances and robustness. ...
