Control of nonholonomic wheeled mobile robots via $i$-PID controllerReport as inadecuate




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1 LAGIS - Laboratoire d-Automatique, Génie Informatique et Signal 2 NON-A - Non-Asymptotic estimation for online systems Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189

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 $\alpha$ 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.





Author: Yingchong Ma - Gang Zheng - Wilfrid Perruquetti - Zhaopeng Qiu -

Source: https://hal.archives-ouvertes.fr/



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