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.2016.081160

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

Received: 27 Jun 2016
Accepted: 28 Sep 2016

Published online: 24 Dec 2016 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article