Stable PID Control for Mobile Robots

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.

[1]  Vijay Kumar,et al.  Control of Mechanical Systems With Rolling Constraints , 1994, Int. J. Robotics Res..

[2]  Tore Hägglund,et al.  Advanced PID Control , 2005 .

[3]  Drago Matko,et al.  Wheeled Mobile Robots Control in a Linear Platoon , 2009, J. Intell. Robotic Syst..

[4]  Marilena Vendittelli,et al.  Control of Wheeled Mobile Robots: An Experimental Overview , 2001 .

[5]  Henk Nijmeijer,et al.  Tracking Control of Mobile Robots: A Case Study in Backstepping , 1997, Autom..

[6]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[7]  Georges Bastin,et al.  Structural properties and classification of kinematic and dynamic models of wheeled mobile robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  Carlos Canudas de Wit,et al.  NONLINEAR CONTROL DESIGN FOR MOBILE ROBOTS , 1994 .

[9]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  Warren E. Dixon,et al.  Nonlinear Control of Wheeled Mobile Robots , 2001 .

[11]  Frank L. Lewis,et al.  Control of a nonholonomic mobile robot: backstepping kinematics into dynamics , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[12]  Saso Blazic,et al.  A novel trajectory-tracking control law for wheeled mobile robots , 2011, Robotics Auton. Syst..

[13]  Saso Blazic,et al.  On Periodic Control Laws for Mobile Robots , 2014, IEEE Transactions on Industrial Electronics.

[14]  Charles P. Neuman,et al.  Kinematic modeling of wheeled mobile robots , 1987, J. Field Robotics.

[15]  Xiaoou Li,et al.  A novel PID tuning method for robot control , 2013, Ind. Robot.

[16]  Sašo Blaič.  A novel trajectory-tracking control law for wheeled mobile robots , 2011 .