Performance Comparison of SSA, GWO, and ISSA for PID Tuning in Leader–Follower Mobile Robot Trajectory Tracking

Abstract

This paper compares GWO, SSA, and ISSA for PID tuning in leader–follower mobile robot circular trajectory tracking under noise and disturbances. Using a unicycle model and a multi-objective cost function, all three methods outperform the manually tuned PID baseline and achieve stable circular motion after the transient stage. In representative single-run simulations, GWO-PID and SSA-PID show faster transient response and slightly better follower tracking than ISSA-PID, although ISSA remains competitive. A 20-seed evaluation further shows that SSA and ISSA obtain lower mean objective values than GWO, with SSA giving the most stable performance. However, angular velocity oscillations remain for all methods, indicating the need for smoother control and broader validation.