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Volume 14
Issue 17
10.3390/electronics14173427
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

PSO-Based Optimal Tracking Control of Mobile Robots with Unknown Wheel Slipping

by
Pengkai Tang
1,
Mingyue Cui
1,2,*,
Lei Zhou
1,
Shiyu Chen
1,
Ruyao Wen
1 and
Wei Liu
1,2
1
College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang 473001, China
2
Collaborative Innovation Center of Intelligent Explosion-Proof Equipment, Nanyang 473061, China
*
Author to whom correspondence should be addressed.
Electronics 2025, 14(17), 3427; https://doi.org/10.3390/electronics14173427 (registering DOI)
Submission received: 7 August 2025 / Revised: 25 August 2025 / Accepted: 25 August 2025 / Published: 27 August 2025
(This article belongs to the Section Systems & Control Engineering)
Versions Notes

Abstract

Wheel slipping during trajectory tracking presents significant challenges for wheeled mobile robots (WMRs), degrading accuracy and stability on low-friction or dynamic terrain. Effective control requires addressing unknown slipping parameters while balancing tracking precision and energy efficiency. To address this challenge, a control framework integrating a sliding mode observer (SMO), an improved particle swarm optimization (PSO) algorithm, and a linear quadratic regulator (LQR) is proposed. First, a dynamic model incorporating longitudinal slipping is established. Second, an SMO is designed to estimate the slipping ratio in real-time, with chattering suppressed using a low-pass filter. Finally, an improved PSO algorithm featuring a nonlinear cosine-decreasing inertia weight strategy optimizes the LQR weighting matrices (Q/R) online to both minimize tracking errors and control energy consumption. Simulations including both circular and sine wave trajectories demonstrate that the SMO achieves rapid and accurate slipping ratio estimation, while the PSO-optimized LQR significantly enhances tracking accuracy, achieves smoother control inputs, and maintains stability under varying slipping conditions.
Keywords: wheel slipping; sliding mode observer; optimal control; wheeled mobile robot; particle swarm optimization wheel slipping; sliding mode observer; optimal control; wheeled mobile robot; particle swarm optimization

Share and Cite

MDPI and ACS Style

Tang, P.; Cui, M.; Zhou, L.; Chen, S.; Wen, R.; Liu, W. PSO-Based Optimal Tracking Control of Mobile Robots with Unknown Wheel Slipping. Electronics 2025, 14, 3427. https://doi.org/10.3390/electronics14173427

AMA Style

Tang P, Cui M, Zhou L, Chen S, Wen R, Liu W. PSO-Based Optimal Tracking Control of Mobile Robots with Unknown Wheel Slipping. Electronics. 2025; 14(17):3427. https://doi.org/10.3390/electronics14173427

Chicago/Turabian Style

Tang, Pengkai, Mingyue Cui, Lei Zhou, Shiyu Chen, Ruyao Wen, and Wei Liu. 2025. "PSO-Based Optimal Tracking Control of Mobile Robots with Unknown Wheel Slipping" Electronics 14, no. 17: 3427. https://doi.org/10.3390/electronics14173427

APA Style

Tang, P., Cui, M., Zhou, L., Chen, S., Wen, R., & Liu, W. (2025). PSO-Based Optimal Tracking Control of Mobile Robots with Unknown Wheel Slipping. Electronics, 14(17), 3427. https://doi.org/10.3390/electronics14173427

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