DocumentCode :
3400329
Title :
On-line Mobile Robot Path Tracking Using PI Controller
Author :
Padhy, P.K. ; Majhi, S.
Author_Institution :
Dept. of Electron. & Commun. Eng., Indian Inst. of Technol., Guwahati
fYear :
2006
fDate :
15-17 Sept. 2006
Firstpage :
1
Lastpage :
4
Abstract :
This paper presents a method for the path tracking problem of a mobile robot using a PI controller. The proposed method inserts an ideal relay in parallel to a conventional PI controller to identify an equivalent FOPDT model for the kinematics of the mobile robot. The parallel connection of the ideal relay to the PI controller helps in designing a robust PI controller in presence of static load disturbances. Based on the identified model, the PI controller is retuned to achieve good performance without disrupting the closed loop control. The performance of the proposed method is discussed through the simulation result to verify the effectiveness of the proposed method
Keywords :
PI control; mobile robots; position control; robot kinematics; PI controller; equivalent FOPDT model; kinematics; on-line mobile robot path tracking; relay parallel connection; static load disturbance; Delay effects; Frequency estimation; Kinematics; Limit-cycles; Mobile robots; Relays; Robot control; State-space methods; Three-term control; Transfer functions; FOPDT process; PI controller; gain margin; mobile robot; phase margin;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
India Conference, 2006 Annual IEEE
Conference_Location :
New Delhi
Print_ISBN :
1-4244-0369-3
Electronic_ISBN :
1-4244-0370-7
Type :
conf
DOI :
10.1109/INDCON.2006.302791
Filename :
4086262
Link To Document :
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