Particle swarm optimization for the Sliding Mode controller parameters

Author

Serbencu, Adrian Emanoil ; Serbencu, Adriana ; Cernega, Daniela Cristina ; Minzu, Viorel

Author_Institution

Control Syst. & Ind. Inf. Dept., Dunarea de Jos Univ. from Galati, Galati, Romania

fYear

2010

fDate

29-31 July 2010

Firstpage

1859

Lastpage

1864

Abstract

The performance of a Sliding Mode controller depend on some parameters. In literature, these parameters are usually experimental established. In this paper the Particle Swarm Optimizer (PSO) is used to obtain the best values for the sliding mode control law parameters. The sliding mode control is used to solve the trajectory tracking problem for a wheeled robot, which is a nonlinear system. The influences of the obtained parameters on the control law are analyzed in order to establish some rules. The conclusions are based on the simulation results.

Keywords

mobile robots; nonlinear control systems; particle swarm optimisation; position control; variable structure systems; nonlinear system; particle swarm optimization; particle swarm optimizer; sliding mode control law parameter; sliding mode controller parameter; trajectory tracking problem; wheeled robot; Manifolds; Mobile robots; Particle swarm optimization; Switches; Trajectory; Nonlinear Control; Particle Swarm Optimization; Sliding Mode Control; Trajectory Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5573618