Particle Swarm Optimization of a Discontinuous Control for a Wheeled Mobile Robot with Two Trailers

摘要：

In this paper we address the stabilization 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 Optimization technique is used to tune the controller parameters for optimized transient performances.Simulations results are presented to illustrate the effectiveness of the presented approach.

关键词： Nonholonomic Systems Particle Swarm Optimization Quasi-exponential Stabilization.

作者: Faǐal Mnif Khaled Metwally

作者单位: Department of Electrical and Computer Engineering,Sultan Qaboos University,Muscat 123,Oman

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）