Suraj Damodaran
ABSTRACT
The paper presents the design and implementation of a PID control based trajectory tracking of a nonholonomic wheeled mobile robot (WMR) with the objective of matching desired time domain specification and specified interaction. The desired time domain specification of output Y(s) is represented as a step response of a second order system with designer specific desired damping ratio (ζ) and natural frequency (ωn). The problem of finding the unknown parameters of PID controllers is formulated in a genetic algorithm (GA) based optimization frame in which the objective is to minimize the difference between the response of the designed closed-loop system and that of the desired closed-loop system. This procedure has been illustrated for achieving the desired time domain specification for WMR, taking different settling time of output response. The interaction analyses are carried out using the concept of Relative Gain Array (RGA). The RGA for both the desired and designed closed-loop systems are found to be matching. It has shown that interaction parameter λ controls both the steady-state and transient response of the desired closed-loop system. The interaction parameter also acts as a parameter which controls the coupling and is chosen by the designer as a specification to be met by the designed closed-loop system with PID controller.
- Ahmed sabah Al-Araji. 2015. A Cognitive PID Neural Controller Design for Mobile Robot based on slice genetic algorithm. Engineering &Technology Journal 33, A (2015), 208--222.Google Scholar
- Jun Ye. 2008. Adaptive control of nonlinear PID-based analog neural networks for a nonholonomic mobile robot. Neurocomputing 71, 7-9 (2008), 1561--1565. Google ScholarDigital Library
- Ahmed sabah Al-Araji and Khulood E. Dagher. 2014. Design of a Nonlinear PID Neural Trajectory Tracking Controller for Mobile Robot based on Optimization Algorithm. Engineering &Technology Journal 32, 4 (2014), 973--985.Google Scholar
- Julio E. Normey-Rico, Ismael Alcalá, Juan Gómez-Ortega, and Eduardo F. Camacho. 2001. Mobile robot path tracking using a robust PID controller. Control Engineering Practice 9, 11 (2001), 1209--1214.Google ScholarCross Ref
- D. Hazry and M. Sugisaka. 2006. Proportional Control for Trajectory Tracking of A Wheeled Mobile Robot. 2006 SICE-ICASE International Joint Conference (2006).Google Scholar
- Lluis Pacheco and Ningsu Luo. 2015. Testing PID and MPC Performance for Mobile Robot Local Path-following. International Journal of Advanced Robotic Systems (2015), 1.Google ScholarCross Ref
- Qing Xu, Jiangming Kan, Shanan Chen, and Shengqi Yan. 2014. Fuzzy PID Based Trajectory Tracking Control of Mobile Robot and its Simulation in Simulink. International Journal of Control and Automation 7, 8 (2014), 233--244.Google ScholarCross Ref
- Elie Maalouf, Maarouf Saad, and Hamadou Saliah. 2006. A higher level path tracking controller for a four-wheel differentially steered mobile robot. Robotics and Autonomous Systems 54, 1 (2006), 23--33.Google ScholarCross Ref
- Turki Y.abdalla and Mustafa I. Hamzah. 2013. Trajectory Tracking Control for Mobile Robot using Wavelet Network. International Journal of Computer Applications 74, 3 (2013), 32--37.Google ScholarCross Ref
- E. Bristol. 1966. On a new measure of interaction for multivariable process control. IEEE Transactions on Automatic Control 11, 1 (1966), 133--134.Google ScholarCross Ref
- Chengying Xu and Yung C. Shin. 2007. Interaction analysis for MIMO nonlinear systems based on a fuzzy basis function network model. Fuzzy Sets and Systems 158, 18 (2007), 2013--2025. Google ScholarDigital Library
- H.R. Shaker and J. Stoustrup. 2012. Control configuration selection for multivariable descriptor systems. 2012 American Control Conference (ACC) (2012).Google ScholarCross Ref
- Qian-Fang Liao, Wen-Jian Cai, and You-Yi Wang. 2013. Interaction analysis and loop pairing for MIMO processes described by type-2 T-S fuzzy models. 2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA) (2013).Google ScholarCross Ref
- User manual: Qbot 2 for QUARC set up and configuration. 2015. Quanser, Canada.Google Scholar
- Amir Haddadi, Peter Martin, and Cameron Fulford. 2015. Quanser Qbot 2 Complete Workbook (Instructor). Quanser, Canada.Google Scholar
- Edouard Ivanjko, Toni Petrinić, and Ivan Petrović. 2010. Modelling of mobile robot dynamics. 2010 7th EUROSIM congress on Modelling and Simulation (Prague, Czech Republic, Sep. 6-10), 2.Google Scholar
- Changlong Liu, Jian Pan, and Yufang Chang. 2016. PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies. 2016 35th Chinese Control Conference (CCC) (2016).Google ScholarCross Ref
Index Terms
- Design and Implementation of GA Tuned PID Controller for Desired Interaction and Trajectory Tracking of Wheeled Mobile Robot
Recommendations
Observer-based proportional integral derivative control for trajectory tracking of wheeled mobile robots with kinematic disturbances
Highlights- A novel observer-based PID controller for trajectory tracking of wheeled mobile robots is presented.
AbstractThis manuscript presents a novel observer-based proportional integral derivative (PID) control methodology for trajectory tracking control of wheeled mobile robots (WMR) disturbed by kinematic disturbances. The new proposal employs the ...
Optimization of a self-tuning PID type fuzzy controller and a PID controller for an inverted pendulum
By relating to the conventional PID and PID type fuzzy, an optimized PID type fuzzy controller and an optimized PID controller are designed for an inverted pendulum with two outputs. The optimized PID type fuzzy tunes its scaling factors on line. The ...
Optimization Design of PID Controller and its Application
ICMTMA '11: Proceedings of the 2011 Third International Conference on Measuring Technology and Mechatronics Automation - Volume 02PID control has been largely applied in the industry process control because of its robustness and easy realization, But it is very difficult to tune the three parameters of PID controller, which often leads to oscillation and overshoot of the ...
Comments