Int. J. of Wireless and Mobile Computing   »   2016 Vol.11, No.3

 

 

Title: Motion control of robot based on a new integral separated PID

 

Authors: Xiang-Ping Meng; Lei Kou; Quan-De Yuan; Yu-Zhen Pi; Wen-De Ke

 

Addresses:
School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, China; School of Information Engineering, Northeast Dianli University, Jilin Shi, China
School of Information Engineering, Northeast Dianli University, Jilin Shi, China
School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, China
School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, China
Department of Computer Science, Guangdong University of Petrochemical Technology, Guangdong, China

 

Abstract: For the mobile robot to control the rotation angle, the ordinary integral separated PID has the problems of fluctuation, overshoot and slow response speed. A new integrated control algorithm is proposed, which can get better effect by controlling the proportion and integral term of the controller. The new integrated PID controller avoids the overshoot and fluctuation; at the same time, it improves the response speed and the stability of the system, and also the accuracy of navigation. By using this algorithm, the robot can avoid the jitter, which can reduce the wheels' wear, and improve the response speed of the system and target accessibility of the robot tracking.

 

Keywords: integral separated PID; mobile robots; motion control; PID control; GPS navigation; robot control; controller design; robot navigation; robot tracking.

 

DOI: 10.1504/IJWMC.2016.10002148

 

Int. J. of Wireless and Mobile Computing, 2016 Vol.11, No.3, pp.207 - 213

 

Submission date: 07 Jun 2016
Date of acceptance: 28 Sep 2016
Available online: 24 Dec 2016

 

 

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