Straddle Robot Design and control with a PID controller optimized by PSO algorithms

Abstract

The work presented in this paper illustrates the design and control of a straddle robot-type four-wheel moving robot with PID controller adjusted by meta-genetic algorithms genetic Algorithm (GA) and PSO. The approach used for the simulation is a modeless approach because it assumes no knowledge of the mathematical model of the system, indeed, the mechanical structure was implemented under SolidWorks, then a simulation (Solidworks, Simulink) has was conducted using particle swarm optimization (PSO) techniques for controller parameter optimization (PID) to control the steering angle and angular velocity of each wheel. The results obtained clearly illustrate the effectiveness of the selected control architecture and the accuracy is better with the use of the PSO algorithm. In a future work, we compare the results with using other optimization algorithms like GA (Genetic Algorithm) and GWO (Grey Wolf Optimizer) algorithm.