Title :
Control of nonholonomic wheeled mobile robots via i-PID controller
Author :
Yingchong Ma ; Gang Zheng ; Perruquetti, W. ; Zhaopeng Qiu
Author_Institution :
LAGIS, Ecole Centrale de Lille, Villeneuve-d´Ascq, France
Abstract :
An intelligent PID controller (i-PID controller) is applied to control the nonholonomic mobile robot with measurement disturbance. Because of the particularity of the nonholonomic systems, this paper propose to use a switching parameter α in the i-PID controller. We show in simulations that the proposed method is able to control the nonholonomic mobile robots with measurement disturbance, and it can also stabilize the robot at a static point.
Keywords :
intelligent control; mobile robots; stability; three-term control; i-PID controller; intelligent PID controller; measurement disturbance; nonholonomic wheeled mobile robots; stability; Mathematical model; Mobile robots; Robustness; Signal to noise ratio; Trajectory;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696990
