Proportional Integral Derivative versus Proportional Integral plus Control Applied to Mobile Robotic System

摘要

An autonomous robot is an embedded intelligent system that operates independently with real time computing constraints. These embedded systems are dedicated to specific tasks, therefore most researchers and design engineers are focusing to optimize its size and cost, as well as increase its reliability and performance. The development of complex control procedures within computerized and integrated systems is crucial and attracts high prospect in research and industry. One of the primary factors considered in the navigation of autonomous robot is dynamic modeling and real time control. In this regard, the recently developed Proportional Integral Plus (PIP) control is implemented over an autonomous guided robot. In the PIP control, full identification process for the discrete time model is carried out and the control law is estimated according to the measured data. The PIP control performance is compared with the optimal Proportional Integral Derivative (PID) control methodology, for which the Internal Time Square Error (ITSE) index is used to design the controller constants. The advantages and limitations for these distinct approaches are identified in terms of both performance and design effort. A primitive semi-circle route is proposed for the robot when the two controllers are applied. Simple differential wheeled mobile robot is used with laptop host and LabView software.