Particle Swarm Optimization of Kinematic Control for Differential Drive Robot in Simscape Multibody

This paper presents a kinematic model control using the Simscape multibody tool in MATLAB for high-fidelity dynamic simulation. The control of the robot is based on the particle swarm optimization algorithm to tune the optimal PID parameters. The theoretical aspect of the robot is derived, and the 3D model is developed using SolidWorks and Simscape multi-body. This PSO-based PID Controller is designed to control the angular velocities for the differential drive robot. The obtained performance is compared with the classical methods. The results of this work demonstrate the efficiency of this model to minimize the velocity tracking error for the robot.