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Conference Papers Year : 2013

Control of nonholonomic wheeled mobile robots via $i$-PID controller

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.

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Dates and versions

hal-00910218 , version 1 (08-03-2017)

Identifiers

  • HAL Id : hal-00910218 , version 1

Cite

Yingchong Ma, Gang Zheng, Wilfrid Perruquetti, Zhaopeng Qiu. Control of nonholonomic wheeled mobile robots via $i$-PID controller. IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Nov 2013, Tokyo, Japan. ⟨hal-00910218⟩
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