Particle swarm optimisation of a discontinuous control for a wheeled mobile robot with two trailers

Authors:
Faï/ç/al Mnif/ Khaled A. El-/Metwally
Affiliations:
Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat 123, Oman.
Venue:
International Journal of Computer Applications in Technology
Year:
2011

Citing 6
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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.