Evolutionary strategies used for the mobile robot trajectory tracking control

Authors:
Adriana Serbencu;Adrian Emanoil Serbencu;Daniela Cristina Cernega
Affiliations:
Control Systems and Industrial Informatics Department, Computer Science Faculty, "Dunarea de Jos" University from Galati, Galati, Romania;Control Systems and Industrial Informatics Department, Computer Science Faculty, "Dunarea de Jos" University from Galati, Galati, Romania;Control Systems and Industrial Informatics Department, Computer Science Faculty, "Dunarea de Jos" University from Galati, Galati, Romania
Venue:
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Year:
2010

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Abstract

This paper addresses the Trajectory Tracking Problem for the Wheeled Mobile Robot, which is a nonlinear system. The trajectory tracking control problem is solved using the sliding mode control. In this paper the Evolution Strategy is investigated in order to obtain the best values for the sliding mode control law parameters. The performances of the control law with the optimum parameters are analyzed. The conclusions are based on the simulation results.