Particle swarm optimisation of a discontinuous control for a wheeled mobile robot with two trailers

Faïçal Mnif, Khaled A. El-Metwally

Research output: Contribution to journalArticle

8 Citations (Scopus)


This paper addresses the stabilisation problem of nonholonomic mobile robot with two trailers. A discontinuous control law is built after a suitable change of variables to achieve a quasi-exponential convergence of the system variables to the origin. Particle Swarm Optimisation technique is used to tune the controller parameters for optimised transient performance under constrained control signals. Simulation results are presented to illustrate the effectiveness of the presented approach.

Original languageEnglish
Pages (from-to)169-176
Number of pages8
JournalInternational Journal of Computer Applications in Technology
Issue number3-4
Publication statusPublished - Sep 2011



  • Nonholonomic systems
  • Particle swarm optimisation
  • Quasi-exponential stabilisation

ASJC Scopus subject areas

  • Software
  • Information Systems
  • Computer Science Applications
  • Computer Networks and Communications
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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