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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