PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking

Abstract

This paper present a particles swarm optimization (PSO) method for determining the optimal proportionalintegral derivative (PID) controller parameters, for the control of nonholonomic mobile robot that involves path tracking using two optimized PID controllers one for speed control and the other for azimuth control. The mobile robot is modelled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme.