Straddle Robot Design and control with a PID controller optimized by PSO algorithms
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Date
2020-06-01
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS)
Vol. 5, Issue 2, June-2020. p142/p147
Abstract
The work presented in this paper illustrates the design and control of a straddle robot-type four-wheel
moving robot with PID controller adjusted by meta-genetic algorithms genetic Algorithm (GA) and PSO. The
approach used for the simulation is a modeless approach because it assumes no knowledge of the mathematical
model of the system, indeed, the mechanical structure was implemented under SolidWorks, then a simulation
(Solidworks, Simulink) has was conducted using particle swarm optimization (PSO) techniques for controller
parameter optimization (PID) to control the steering angle and angular velocity of each wheel. The results obtained
clearly illustrate the effectiveness of the selected control architecture and the accuracy is better with the use of the
PSO algorithm. In a future work, we compare the results with using other optimization algorithms like GA (Genetic
Algorithm) and GWO (Grey Wolf Optimizer) algorithm.