Particle swarm optimization for the Sliding Mode controller parameters

Abstract

The performance of a Sliding Mode controller depend on some parameters. In literature, these parameters are usually experimental established. In this paper the Particle Swarm Optimizer (PSO) is used to obtain the best values for the sliding mode control law parameters. The sliding mode control is used to solve the trajectory tracking problem for a wheeled robot, which is a nonlinear system. The influences of the obtained parameters on the control law are analyzed in order to establish some rules. The conclusions are based on the simulation results.