PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL

Adrian Emanoil Serbencu, Adriana Serbencu, Daniela Cristina Cernega

Abstract

The wheeled mobile robot is a nonlinear system. The trajectory tracking problem is solved using the sliding mode control. In this paper an optimization technique 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 in order to establish some rules. The conclusions are based on the simulation results.

References

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Paper Citation


in Harvard Style

Serbencu A., Serbencu A. and Cristina Cernega D. (2010). PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 240-245. DOI: 10.5220/0002945702400245


in Bibtex Style

@conference{icinco10,
author={Adrian Emanoil Serbencu and Adriana Serbencu and Daniela Cristina Cernega},
title={PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={240-245},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002945702400245},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL
SN - 978-989-8425-01-0
AU - Serbencu A.
AU - Serbencu A.
AU - Cristina Cernega D.
PY - 2010
SP - 240
EP - 245
DO - 10.5220/0002945702400245