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

Yingchong Ma 1 Gang Zheng 2, 1 Wilfrid Perruquetti 1, 2 Zhaopeng Qiu 1
2 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
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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https://hal.inria.fr/hal-00910218
Contributor : Gang Zheng <>
Submitted on : Wednesday, March 8, 2017 - 7:44:55 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM
Long-term archiving on: : Friday, June 9, 2017 - 2:01:07 PM

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  • HAL Id : hal-00910218, version 1

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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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