PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL

Adrian Emanoil Serbencu; Adriana Serbencu; Daniela Cristina Cernega

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Paper

PARTICLE SWARM OPTIMIZATION USED FOR THE MOBILE ROBOT TRAJECTORY TRACKING CONTROL

Topics: Mobile Robots and Autonomous Systems; Optimization Algorithms; Robot Design, Development and Control

In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 240-245, 2010 , Funchal, Madeira, Portugal

Authors: Adrian Emanoil Serbencu ; Adriana Serbencu and Daniela Cristina Cernega

Affiliation: Computer Science Faculty "Dunarea de Jos" University from Galati, Romania

Keyword(s): Trajectory Tracking, Nonlinear Control, Sliding Mode Control, Particle Swarm Optimization.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Optimization Algorithms ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 240-245. DOI: 10.5220/0002945702400245

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Serbencu, A.
AU - Serbencu, A.
AU - Cristina Cernega, D.
PY - 2010
SP - 240
EP - 245
DO - 10.5220/0002945702400245
PB - SciTePress