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dc.contributor.authorGoher, Khaleden
dc.contributor.authorFadlallah, S. O.en
dc.identifier.citationGoher, K.M., & Fadlallah, S.O. (2017). Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism. Robotics and Biomimetics, 4(1). doi:10.1186/s40638-017-0057-3en
dc.description.abstractThis paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.en
dc.publisherSpringer Openen
dc.relationThe original publication is available from - Springer Open -
dc.rights© The Author(s) 2017. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.subjectLagrangian modelingen
dc.subjecttwo-directional handlingen
dc.subjectinverted pendulumen
dc.subjecttwo-wheeled machineen
dc.titleBacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanismen
dc.typeJournal Article
lu.contributor.unitLincoln Universityen
lu.contributor.unitFaculty of Environment, Society and Designen
lu.contributor.unitDepartment of Environmental Managementen
dc.subject.anzsrc090602 Control Systems, Robotics and Automationen
dc.subject.anzsrc090603 Industrial Electronicsen
dc.subject.anzsrc060501 Bacteriologyen
dc.relation.isPartOfRobotics and Biomimeticsen
pubs.organisational-group/LU/Faculty of Environment, Society and Design
pubs.organisational-group/LU/Faculty of Environment, Society and Design/DEM
pubs.publication-statusPublished onlineen

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