On-line Mobile Robot Path Tracking Using PI Controller

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

[1]  D. Atherton,et al.  Autotuning and controller design for processes with small time delays , 1999 .

[2]  Kok Kiong Tan,et al.  A modified relay-based technique for improved critical point estimation in process control , 1995, IEEE Trans. Control. Syst. Technol..

[3]  Derek P. Atherton,et al.  An improved parameter estimation method using limit cycle data , 1998 .

[4]  Cheng-Ching Yu,et al.  Derivation of transfer function from relay feedback systems , 1992 .

[5]  Tore Hägglund,et al.  Automatic tuning of simple regulators with specifications on phase and amplitude margins , 1984, Autom..

[6]  William L. Luyben,et al.  Derivation of transfer functions for highly nonlinear distillation columns , 1987 .

[7]  Tor Steinar Schei,et al.  A method for closed loop automatic tuning of PID controllers , 1992, Autom..

[8]  Eckhard Freund,et al.  Nonlinear path control in automated vehicle guidance , 1997, IEEE Trans. Robotics Autom..

[9]  Alain Micaelli,et al.  Modeling and feedback control of mobile robots equipped with several steering wheels , 1996, IEEE Trans. Robotics Autom..

[10]  Jiang,et al.  Robust on-line relay automatic tuning of PID control systems , 2000, ISA transactions.

[11]  Sunan Huang,et al.  Improved critical point estimation using a preload relay , 2006 .

[12]  Qing-Guo Wang,et al.  Low-Order Modeling from Relay Feedback , 1997 .

[13]  Lothar Litz,et al.  Relay Based Closed-Loop Tuning of PID Controllers (Adaption der PID-Reglerparameter im geschlossenen Kreis durch Einkopplung eines Zweipunktreglers) , 2004 .

[14]  Lothar Litz,et al.  On-line tuning of PID controllers , 2003, Proceedings of the 2003 American Control Conference, 2003..

[15]  Julio E. Normey-Rico,et al.  Mobile robot path tracking using a robust PID controller , 2001 .