Title: Particle swarm optimisation of a discontinuous control for a wheeled mobile robot with two trailers
Authors: Faïçal Mnif; Khaled A. El-Metwally
Addresses: Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat 123, Oman. ' Department of Electrical Power and Machines, Faculty of Engineering, Cairo University, Cairo 12211, Egypt
Abstract: This paper addresses the stabilisation problem of nonholonomic mobile robot with two trailers. A discontinuous control law is built after a suitable change of variables to achieve a quasi-exponential convergence of the system variables to the origin. Particle Swarm Optimisation technique is used to tune the controller parameters for optimised transient performance under constrained control signals. Simulation results are presented to illustrate the effectiveness of the presented approach.
Keywords: nonholonomic systems; particle swarm optimisation; PSO; quasi-exponential stabilisation; nonholonomic robots; wheeled robots; mobile robots; trailers; discontinuous control; robot control; simulation.
International Journal of Computer Applications in Technology, 2011 Vol.41 No.3/4, pp.169 - 176
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 25 Sep 2011 *