Kawther K Younus,Nabil H Hadi,




Mobile robot,Nonholonomic,DDWMR,Optimum,PSO,control,


This work studies the trajectory tracking of a non-holonomic WMR. A type of back stepping method in conjunction with Lyapunov method were used for deriving two controllers. But, in non-linear systems controllers may not be enough to reach a good performance. Different cases of trajectory where studied such as (straight line, circular, elliptical, sinusoidal, and infinity shape trajectory) to examine the WMR control system utilizing MATLAB (R2018a)/Simulink to simulate the results. In addition, particle swarm optimization technique was utilized to determine the controllers' parameters by implementing the summation absolute compound error for the position (x, y), the orientation 𝛽, the linear and angular velocity (𝑣􀯖,𝜔􀯖 ), and the energy. Results showed a very good matching between simulation and the desired trajectory where all errors converge to zero.


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