An Adaptive Control Based on Improved Gray Wolf Algorithm for Mobile Robots

Abstract

In this paper, a novel intelligent controller for the trajectory tracking control of a nonholonomic mobile robot with time-varying parameter uncertainty and external disturbances in the case of tire hysteresis loss is proposed. Based on tire dynamics principles, a dynamic and kinematic model of a nonholonomic mobile robot is established, and the neural network approximation model of the system’s nonlinear term caused by many coupling factors when the robot enters a roll is given. Then, in order to adaptively estimate the unknown upper bounds on the uncertainties and perturbations for each subsystem in real time, a novel adaptive law employed online as a gain parameter is designed to solve the problem of inter-system coupling and reduce the transient response time of the system with lower uncertainties. Additionally, based on improved gray wolf optimizer and fuzzy system techniques, an adaptive algorithm using the gray wolf optimizer study space as the output variable of the fuzzy system to expand the search area of the gray wolves is developed to optimize the controller parameters online. Finally, the efficacy of the proposed intelligent control scheme and the feasibility of the proposed algorithm are verified by the 2023a version of MATLAB/Simulink platform.