PSO APPLIED TO DESIGN OPTIMAL PD CONTROL FOR A UNICYCLE MOBILE ROBOT

In this work, we propose a Particle Swarm Optimization (PSO) to design Proportional Derivative controllers (PD) for the control of Unicycle Mobile Robot. To stabilize and drive the robot precisely with the predefined trajectory, a decentralized control structure is adopted where four PD controllers are used. Their parameters are given simultaneously by the proposed algorithm (PSO). The performance of the system from its desired behavior is quantified by an objective function (SE). Simulation results are presented to show the efficiency of the method. ). The results are very conclusive and satisfactory in terms of stability and trajectory tracking of unicycle mobile robot