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Stable PID Control for Mobile Robots
- Authors
- Carmona, R.R.; Sung, H.G.; Kim, Y.S.; Vazquez, H.A.
- Issue Date
- 2018
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- explicit conditions; Mobile robots; stable PID control
- Citation
- 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, pp 1891 - 1896
- Pages
- 6
- Journal Title
- 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
- Start Page
- 1891
- End Page
- 1896
- ISSN
- 0000-0000
- Abstract
- In order to guarantee asymptotic stability for mobile robot, proportional-integral-derivative (PID) controllers are needed. In this paper, we use an uncoupled linear PID controller with explicit conditions to control a mobile robot, in which semiglobal asymptotic stability of the linear PID controller was proven. Explicit conditions are given for choice the control gains of the linear PID controller, and assure the stability of the closed-loop system. Experimental studies for differential wheels robot are addressed. The theoretical analysis presented in this work provides a tool for the design and implementation experimentally of controllers on real mobile robots. ？ 2018 IEEE.
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Related Researcher
- Sung, Hong Gun
- 친환경해양개발연구본부 (심해공학연구센터)