Gain Tuning of Lyapunov Function Based Controller Using PSO for Mobile Robot Control

A wheeled mobile robot has been taken for slippage detection in terms of changing its localized coordinates under uneven ground traction. Deviation from the path due to slippage makes it extremely difficult for the robot to retain its original position. Authors in their previous work [4] have used Lyapunov stability control algorithm with fixed gain to make a controller for the robot in order to follow a trajectory but the effect of slippage remains uncompensated. The objective of this research paper is to design a robust controller which can perform trajectory tracking under the slippage of wheels of the robot. We have developed a state of the are technique to overcome this problem, the slippage disturbance is eliminated using the gain tuning of Lyapunov based controller using Particle Swarm Optimization. The tuned controller is based on kinematic model of differentially driven mobile robot. A mathematical solution of this problem using particle swarm optimization technique is used in the present paper for gain tuning in a given sample of time to set the robot on desired trajectory. Simulations of a numerical example have been taken to show the effectiveness of the proposed technique.