Optimized Kinematics Synergetic Control for a Car-like Mobile Robot

Kinematic synergetic control is used to control a kinematic autonomous robot Car-like Mobile Robot (CLMR). The main task of the purpose command is to make the positions converge asymptotically to the reference trajectory. The stability of the system is ensured by adopting the Lyapunov theorem. To find the optimized parameters of the SC, we applied the particle swarm optimization (PSO) algorithm. These parameters depend on which fitness function is best selected. In this purpose, the fitness function is based on the integral of the error square ISE criterion. Simulation results are performed to present the feasibility and efficiency of the proposed control methods.