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.